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/core/vpXmlParserCamera.h>
11 #include <visp3/gui/vpDisplayGDI.h>
12 #include <visp3/gui/vpDisplayOpenCV.h>
13 #include <visp3/gui/vpDisplayX.h>
14 #include <visp3/vision/vpPose.h>
16 int main(
int argc,
const char **argv)
19 #if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
24 double tagSize = 0.053;
25 float quad_decimate = 1.0;
27 bool display_tag =
false;
29 unsigned int thickness = 2;
30 bool align_frame =
false;
32 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
33 bool display_off =
true;
34 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
36 bool display_off =
false;
39 for (
int i = 1; i < argc; i++) {
40 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]);
44 }
else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
45 quad_decimate = (float)atof(argv[i + 1]);
46 }
else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
47 nThreads = atoi(argv[i + 1]);
48 }
else if (std::string(argv[i]) ==
"--display_tag") {
50 }
else if (std::string(argv[i]) ==
"--display_off") {
52 }
else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
53 color_id = atoi(argv[i + 1]);
54 }
else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
55 thickness = (
unsigned int)atoi(argv[i + 1]);
56 }
else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
58 }
else if (std::string(argv[i]) ==
"--z_aligned") {
60 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
61 std::cout <<
"Usage: " << argv[0]
62 <<
" [--tag_size <tag_size in m> (default: 0.053)]"
63 " [--quad_decimate <quad_decimate> (default: 1)]"
64 " [--nthreads <nb> (default: 1)]"
65 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
66 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
67 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
68 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
69 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
70 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
71 " [--display_tag] [--z_aligned]";
72 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
73 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
75 std::cout <<
" [--help]" << std::endl;
82 std::cout <<
"Use Realsense 2 grabber" << std::endl;
85 unsigned int width = 640, height = 480;
86 config.enable_stream(RS2_STREAM_COLOR,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
87 config.enable_stream(RS2_STREAM_DEPTH,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_Z16, 30);
88 config.enable_stream(RS2_STREAM_INFRARED,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_Y8, 30);
97 std::cout <<
"I_color: " << I_color.getWidth() <<
" " << I_color.getHeight() << std::endl;
98 std::cout <<
"I_depth_raw: " << I_depth_raw.getWidth() <<
" " << I_depth_raw.getHeight() << std::endl;
100 rs2::align align_to_color = RS2_STREAM_COLOR;
101 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap),
102 NULL, NULL, &align_to_color);
104 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
109 std::cout << cam << std::endl;
110 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
111 std::cout <<
"tagFamily: " << tagFamily << std::endl;
112 std::cout <<
"nThreads : " << nThreads << std::endl;
113 std::cout <<
"Z aligned: " << align_frame << std::endl;
124 d1 =
new vpDisplayX(I_color, 100, 30,
"Pose from Homography");
125 d2 =
new vpDisplayX(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
126 d3 =
new vpDisplayX(I_depth, 100, I_color.getHeight() + 70,
"Depth");
127 #elif defined(VISP_HAVE_GDI)
128 d1 =
new vpDisplayGDI(I_color, 100, 30,
"Pose from Homography");
129 d2 =
new vpDisplayGDI(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
130 d3 =
new vpDisplayGDI(I_depth, 100, I_color.getHeight() + 70,
"Depth");
131 #elif defined(VISP_HAVE_OPENCV)
133 d2 =
new vpDisplayOpenCV(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
134 d3 =
new vpDisplayOpenCV(I_depth, 100, I_color.getHeight() + 70,
"Depth");
143 detector.setAprilTagQuadDecimate(quad_decimate);
144 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
145 detector.setAprilTagNbThreads(nThreads);
147 detector.setZAlignedWithCameraAxis(align_frame);
149 std::vector<double> time_vec;
154 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
155 reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap), NULL, NULL, &align_to_color);
162 depthMap.
resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
163 #ifdef VISP_HAVE_OPENMP
164 #pragma omp parallel for
166 for (
int i = 0; i < static_cast<int>(I_depth_raw.getHeight()); i++) {
167 for (
int j = 0; j < static_cast<int>(I_depth_raw.getWidth()); j++) {
168 if (I_depth_raw[i][j]) {
169 float Z = I_depth_raw[i][j] * depth_scale;
181 std::vector<vpHomogeneousMatrix> cMo_vec;
182 detector.detect(I, tagSize, cam, cMo_vec);
185 for (
size_t i = 0; i < cMo_vec.size(); i++) {
190 std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
191 std::vector<int> tags_id = detector.getTagsId();
192 std::map<int, double> tags_size;
193 tags_size[-1] = tagSize;
194 std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
195 for (
size_t i = 0; i < tags_corners.size(); i++) {
197 double confidence_index;
199 &confidence_index)) {
200 if (confidence_index > 0.5) {
202 }
else if (confidence_index > 0.25) {
207 std::stringstream ss;
208 ss <<
"Tag id " << tags_id[i] <<
" confidence: " << confidence_index;
218 time_vec.push_back(t);
220 std::stringstream ss;
221 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
232 std::cout <<
"Benchmark loop processing time" << std::endl;
233 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
244 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
251 #ifndef VISP_HAVE_APRILTAG
252 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
254 std::cout <<
"Install librealsense 3rd party, configure and build ViSP again to use this example" << std::endl;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
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 functionnalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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 displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited 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=NULL)
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()