1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpOccipitalStructure.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_OCCIPITAL_STRUCTURE)
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 Occipital Structure grabber" << std::endl;
84 ST::CaptureSessionSettings settings;
85 settings.source = ST::CaptureSessionSourceId::StructureCore;
86 settings.structureCore.visibleEnabled =
true;
87 settings.applyExpensiveCorrection =
true;
88 unsigned int width = 640, height = 480;
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 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap));
102 std::cout <<
"Read camera parameters from Structure core device" << std::endl;
107 std::cout << cam << std::endl;
108 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
109 std::cout <<
"tagFamily: " << tagFamily << std::endl;
110 std::cout <<
"nThreads : " << nThreads << std::endl;
111 std::cout <<
"Z aligned: " << align_frame << std::endl;
122 d1 =
new vpDisplayX(I_color, 100, 30,
"Pose from Homography");
123 d2 =
new vpDisplayX(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
124 d3 =
new vpDisplayX(I_depth, 100, I_color.getHeight() + 70,
"Depth");
125 #elif defined(VISP_HAVE_GDI)
126 d1 =
new vpDisplayGDI(I_color, 100, 30,
"Pose from Homography");
127 d2 =
new vpDisplayGDI(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
128 d3 =
new vpDisplayGDI(I_depth, 100, I_color.getHeight() + 70,
"Depth");
129 #elif defined(HAVE_OPENCV_HIGHGUI)
131 d2 =
new vpDisplayOpenCV(I_color2, I_color.getWidth() + 120, 30,
"Pose from RGBD fusion");
132 d3 =
new vpDisplayOpenCV(I_depth, 100, I_color.getHeight() + 70,
"Depth");
141 detector.setAprilTagQuadDecimate(quad_decimate);
142 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
143 detector.setAprilTagNbThreads(nThreads);
145 detector.setZAlignedWithCameraAxis(align_frame);
147 std::vector<double> time_vec;
152 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
153 reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap));
160 depthMap.
resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
161 #ifdef VISP_HAVE_OPENMP
162 #pragma omp parallel for
164 for (
unsigned int i = 0; i < I_depth_raw.getHeight(); i++) {
165 for (
unsigned int j = 0; j < I_depth_raw.getWidth(); j++) {
167 float Z = I_depth_raw[i][j] * 0.001;
179 std::vector<vpHomogeneousMatrix> cMo_vec;
180 detector.detect(I, tagSize, cam, cMo_vec);
183 for (
size_t i = 0; i < cMo_vec.size(); i++) {
188 std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
189 std::vector<int> tags_id = detector.getTagsId();
190 std::map<int, double> tags_size;
191 tags_size[-1] = tagSize;
192 std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
193 for (
size_t i = 0; i < tags_corners.size(); i++) {
195 double confidence_index;
197 &confidence_index)) {
198 if (confidence_index > 0.5) {
200 }
else if (confidence_index > 0.25) {
205 std::stringstream ss;
206 ss <<
"Tag id " << tags_id[i] <<
" confidence: " << confidence_index;
216 time_vec.push_back(t);
218 std::stringstream ss;
219 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
230 std::cout <<
"Benchmark loop processing time" << std::endl;
231 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
242 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
249 #ifndef VISP_HAVE_APRILTAG
250 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
252 std::cout <<
"Install Structure Core SDK, 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 bool isNaN(double value)
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)
vpCameraParameters getCameraParameters(const vpOccipitalStructureStream stream_type, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithoutDistortion)
void acquire(vpImage< unsigned char > &gray, bool undistorted=false, double *ts=nullptr)
bool open(const ST::CaptureSessionSettings &settings)
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)
VISP_EXPORT double measureTimeMs()