Visual Servoing Platform  version 3.4.1 under development (2022-01-19)
tutorial-apriltag-detector-live-rgbd-realsense.cpp
1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpRealSense2.h>
5 #endif
6 #include <visp3/detection/vpDetectorAprilTag.h>
9 #include <visp3/gui/vpDisplayGDI.h>
10 #include <visp3/gui/vpDisplayOpenCV.h>
11 #include <visp3/gui/vpDisplayX.h>
12 #include <visp3/core/vpXmlParserCamera.h>
13 #include <visp3/core/vpImageConvert.h>
14 #include <visp3/vision/vpPose.h>
15 
16 int main(int argc, const char **argv)
17 {
19 #if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
20 
24  double tagSize = 0.053;
25  float quad_decimate = 1.0;
26  int nThreads = 1;
27  bool display_tag = false;
28  int color_id = -1;
29  unsigned int thickness = 2;
30  bool align_frame = false;
31 
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;
35 #else
36  bool display_off = false;
37 #endif
38 
39  for (int i = 1; i < argc; i++) {
40  if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
41  poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
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") {
49  display_tag = true;
50  } else if (std::string(argv[i]) == "--display_off") {
51  display_off = true;
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) {
57  tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
58  } else if (std::string(argv[i]) == "--z_aligned") {
59  align_frame = true;
60  }
61  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
62  std::cout << "Usage: " << argv[0]
63  << " [--tag_size <tag_size in m> (default: 0.053)]"
64  " [--quad_decimate <quad_decimate> (default: 1)]"
65  " [--nthreads <nb> (default: 1)]"
66  " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
67  " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
68  " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
69  " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
70  " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
71  " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
72  " [--display_tag] [--z_aligned]";
73 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
74  std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
75 #endif
76  std::cout << " [--help]" << std::endl;
77  return EXIT_SUCCESS;
78  }
79  }
80 
81  try {
83  std::cout << "Use Realsense 2 grabber" << std::endl;
84  vpRealSense2 g;
85  rs2::config config;
86  unsigned int width = 640, height = 480;
87  config.enable_stream(RS2_STREAM_COLOR, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
88  config.enable_stream(RS2_STREAM_DEPTH, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_Z16, 30);
89  config.enable_stream(RS2_STREAM_INFRARED, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_Y8, 30);
90 
92  vpImage<vpRGBa> I_color(height, width);
93  vpImage<uint16_t> I_depth_raw(height, width);
94  vpImage<vpRGBa> I_depth;
95 
96  g.open(config);
97  const float depth_scale = g.getDepthScale();
98  std::cout << "I_color: " << I_color.getWidth() << " " << I_color.getHeight() << std::endl;
99  std::cout << "I_depth_raw: " << I_depth_raw.getWidth() << " " << I_depth_raw.getHeight() << std::endl;
100 
101  rs2::align align_to_color = RS2_STREAM_COLOR;
102  g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
103  NULL, NULL, &align_to_color);
104 
105  std::cout << "Read camera parameters from Realsense device" << std::endl;
106  vpCameraParameters cam;
109 
110  std::cout << cam << std::endl;
111  std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
112  std::cout << "tagFamily: " << tagFamily << std::endl;
113  std::cout << "nThreads : " << nThreads << std::endl;
114  std::cout << "Z aligned: " << align_frame << std::endl;
115 
116  vpImage<vpRGBa> I_color2 = I_color;
117  vpImage<float> depthMap;
118  vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
119 
120  vpDisplay *d1 = NULL;
121  vpDisplay *d2 = NULL;
122  vpDisplay *d3 = NULL;
123  if (! display_off) {
124 #ifdef VISP_HAVE_X11
125  d1 = new vpDisplayX(I_color, 100, 30, "Pose from Homography");
126  d2 = new vpDisplayX(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
127  d3 = new vpDisplayX(I_depth, 100, I_color.getHeight()+70, "Depth");
128 #elif defined(VISP_HAVE_GDI)
129  d1 = new vpDisplayGDI(I_color, 100, 30, "Pose from Homography");
130  d2 = new vpDisplayGDI(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
131  d3 = new vpDisplayGDI(I_depth, 100, I_color.getHeight()+70, "Depth");
132 #elif defined(VISP_HAVE_OPENCV)
133  d1 = new vpDisplayOpenCV(I_color, 100, 30, "Pose from Homography");
134  d2 = new vpDisplayOpenCV(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
135  d3 = new vpDisplayOpenCV(I_depth, 100, I_color.getHeight()+70, "Depth");
136 #endif
137  }
138 
140  vpDetectorAprilTag detector(tagFamily);
142 
144  detector.setAprilTagQuadDecimate(quad_decimate);
145  detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
146  detector.setAprilTagNbThreads(nThreads);
147  detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
148  detector.setZAlignedWithCameraAxis(align_frame);
150  std::vector<double> time_vec;
151  for (;;) {
152  double t = vpTime::measureTimeMs();
153 
155  g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
156  NULL, NULL, &align_to_color);
158 
159  I_color2 = I_color;
160  vpImageConvert::convert(I_color, I);
161  vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
162 
163  depthMap.resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
164  #ifdef VISP_HAVE_OPENMP
165  #pragma omp parallel for
166  #endif
167  for (int i = 0; i < static_cast<int>(I_depth_raw.getHeight()); i++) {
168  for (int j = 0; j < static_cast<int>(I_depth_raw.getWidth()); j++) {
169  if (I_depth_raw[i][j]) {
170  float Z = I_depth_raw[i][j] * depth_scale;
171  depthMap[i][j] = Z;
172  } else {
173  depthMap[i][j] = 0;
174  }
175  }
176  }
177 
178  vpDisplay::display(I_color);
179  vpDisplay::display(I_color2);
180  vpDisplay::display(I_depth);
181 
182  std::vector<vpHomogeneousMatrix> cMo_vec;
183  detector.detect(I, tagSize, cam, cMo_vec);
184 
185  // Display camera pose for each tag
186  for (size_t i = 0; i < cMo_vec.size(); i++) {
187  vpDisplay::displayFrame(I_color, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
188  }
189 
191  std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
192  std::vector<int> tags_id = detector.getTagsId();
193  std::map<int, double> tags_size;
194  tags_size[-1] = tagSize; // Default tag size
195  std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
196  for (size_t i = 0; i < tags_corners.size(); i++) {
198  double confidence_index;
199  if (vpPose::computePlanarObjectPoseFromRGBD(depthMap, tags_corners[i], cam, tags_points3d[i], cMo, &confidence_index)) {
200  if (confidence_index > 0.5) {
201  vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::none, 3);
202  }
203  else if (confidence_index > 0.25) {
204  vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::orange, 3);
205  }
206  else {
207  vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::red, 3);
208  }
209  std::stringstream ss;
210  ss << "Tag id " << tags_id[i] << " confidence: " << confidence_index;
211  vpDisplay::displayText(I_color2, 35 + i*15, 20, ss.str(), vpColor::red);
212  }
213  }
215 
216  vpDisplay::displayText(I_color, 20, 20, "Pose from homography + VVS", vpColor::red);
217  vpDisplay::displayText(I_color2, 20, 20, "Pose from RGBD fusion", vpColor::red);
218  vpDisplay::displayText(I_color, 35, 20, "Click to quit.", vpColor::red);
219  t = vpTime::measureTimeMs() - t;
220  time_vec.push_back(t);
221 
222  std::stringstream ss;
223  ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
224  vpDisplay::displayText(I_color, 50, 20, ss.str(), vpColor::red);
225 
226  if (vpDisplay::getClick(I_color, false))
227  break;
228 
229  vpDisplay::flush(I_color);
230  vpDisplay::flush(I_color2);
231  vpDisplay::flush(I_depth);
232  }
233 
234  std::cout << "Benchmark loop processing time" << std::endl;
235  std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
236  << " ; " << vpMath::getMedian(time_vec) << " ms"
237  << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
238 
239  if (! display_off) {
240  delete d1;
241  delete d2;
242  delete d3;
243  }
244 
245  } catch (const vpException &e) {
246  std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
247  }
248 
249  return EXIT_SUCCESS;
250 #else
251  (void)argc;
252  (void)argv;
253 #ifndef VISP_HAVE_APRILTAG
254  std::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
255 #else
256  std::cout << "Install librealsense 3rd party, configure and build ViSP again to use this example" << std::endl;
257 #endif
258 #endif
259  return EXIT_SUCCESS;
260 }
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:177
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
Implementation of an homogeneous matrix and operations on such kind of matrices.
AprilTag 36h11 pattern (recommended)
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:261
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:291
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
static const vpColor none
Definition: vpColor.h:229
error that can be emited by ViSP classes.
Definition: vpException.h:71
std::vector< std::vector< vpPoint > > getTagsPoints3D(const std::vector< int > &tagsId, const std::map< int, double > &tagsSize) const
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)
Definition: vpPoseRGBD.cpp:254
size_t getNbObjects() const
const char * getMessage() const
Definition: vpException.cpp:90
static void flush(const vpImage< unsigned char > &I)
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
static const vpColor red
Definition: vpColor.h:217
static const vpColor orange
Definition: vpColor.h:227
float getDepthScale()
void setAprilTagQuadDecimate(float quadDecimate)
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:241
void setZAlignedWithCameraAxis(bool zAlignedWithCameraFrame)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
void setAprilTagNbThreads(int nThreads)
std::vector< int > getTagsId() const
unsigned int getHeight() const
Definition: vpImage.h:188
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))
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
static vpColor getColor(const unsigned int &i)
Definition: vpColor.h:310
unsigned int getWidth() const
Definition: vpImage.h:246
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
std::vector< std::vector< vpImagePoint > > & getPolygon()
bool detect(const vpImage< unsigned char > &I)