Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
tutorial-apriltag-detector-live.cpp
1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vp1394CMUGrabber.h>
5 #include <visp3/sensor/vp1394TwoGrabber.h>
6 #include <visp3/sensor/vpFlyCaptureGrabber.h>
7 #include <visp3/sensor/vpRealSense2.h>
8 #include <visp3/sensor/vpV4l2Grabber.h>
9 #endif
11 #include <visp3/detection/vpDetectorAprilTag.h>
13 #include <visp3/core/vpXmlParserCamera.h>
14 #include <visp3/gui/vpDisplayGDI.h>
15 #include <visp3/gui/vpDisplayOpenCV.h>
16 #include <visp3/gui/vpDisplayX.h>
17 
19 //#undef VISP_HAVE_V4L2
20 //#undef VISP_HAVE_DC1394
21 //#undef VISP_HAVE_CMU1394
22 //#undef VISP_HAVE_FLYCAPTURE
23 //#undef VISP_HAVE_REALSENSE2
24 //#undef VISP_HAVE_OPENCV
26 
27 int main(int argc, const char **argv)
28 {
30 #if defined(VISP_HAVE_APRILTAG) && \
31  (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
32  (VISP_HAVE_OPENCV_VERSION >= 0x020100) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2))
34 
35  int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
38  double tagSize = 0.053;
39  float quad_decimate = 1.0;
40  int nThreads = 1;
41  std::string intrinsic_file = "";
42  std::string camera_name = "";
43  bool display_tag = false;
44  int color_id = -1;
45  unsigned int thickness = 2;
46  bool align_frame = false;
47 
48 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
49  bool display_off = true;
50  std::cout << "Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
51 #else
52  bool display_off = false;
53 #endif
54 
56 
57  for (int i = 1; i < argc; i++) {
58  if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
59  poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
60  } else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
61  tagSize = atof(argv[i + 1]);
62  } else if (std::string(argv[i]) == "--camera_device" && i + 1 < argc) {
63  opt_device = atoi(argv[i + 1]);
64  } else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
65  quad_decimate = (float)atof(argv[i + 1]);
66  } else if (std::string(argv[i]) == "--nthreads" && i + 1 < argc) {
67  nThreads = atoi(argv[i + 1]);
68  } else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
69  intrinsic_file = std::string(argv[i + 1]);
70  } else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
71  camera_name = std::string(argv[i + 1]);
72  } else if (std::string(argv[i]) == "--display_tag") {
73  display_tag = true;
74  } else if (std::string(argv[i]) == "--display_off") {
75  display_off = true;
76  } else if (std::string(argv[i]) == "--color" && i + 1 < argc) {
77  color_id = atoi(argv[i + 1]);
78  } else if (std::string(argv[i]) == "--thickness" && i + 1 < argc) {
79  thickness = (unsigned int)atoi(argv[i + 1]);
80  } else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
81  tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
82  } else if (std::string(argv[i]) == "--z_aligned") {
83  align_frame = true;
84  } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
85  std::cout << "Usage: " << argv[0] << " [--camera_device <camera device> (default: 0)]"
86  << " [--tag_size <tag_size in m> (default: 0.053)]"
87  " [--quad_decimate <quad_decimate> (default: 1)]"
88  " [--nthreads <nb> (default: 1)]"
89  " [--intrinsic <intrinsic file> (default: empty)]"
90  " [--camera_name <camera name> (default: empty)]"
91  " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
92  " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
93  " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
94  " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
95  " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
96  " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
97  " [--display_tag] [--z_aligned]";
98 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
99  std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
100 #endif
101  std::cout << " [--help]" << std::endl;
102  return EXIT_SUCCESS;
103  }
104  }
105 
106  try {
107  vpCameraParameters cam;
108  cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);
109  vpXmlParserCamera parser;
110  if (!intrinsic_file.empty() && !camera_name.empty())
111  parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
112 
114 #if defined(VISP_HAVE_V4L2)
115  vpV4l2Grabber g;
116  std::ostringstream device;
117  device << "/dev/video" << opt_device;
118  std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
119  g.setDevice(device.str());
120  g.setScale(1);
121  g.open(I);
122 #elif defined(VISP_HAVE_DC1394)
123  (void)opt_device; // To avoid non used warning
124  std::cout << "Use DC1394 grabber" << std::endl;
126  g.open(I);
127 #elif defined(VISP_HAVE_CMU1394)
128  (void)opt_device; // To avoid non used warning
129  std::cout << "Use CMU1394 grabber" << std::endl;
131  g.open(I);
132 #elif defined(VISP_HAVE_FLYCAPTURE)
133  (void)opt_device; // To avoid non used warning
134  std::cout << "Use FlyCapture grabber" << std::endl;
136  g.open(I);
137 #elif defined(VISP_HAVE_REALSENSE2)
138  (void)opt_device; // To avoid non used warning
139  std::cout << "Use Realsense 2 grabber" << std::endl;
140  vpRealSense2 g;
141  rs2::config config;
142  config.disable_stream(RS2_STREAM_DEPTH);
143  config.disable_stream(RS2_STREAM_INFRARED);
144  config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
145  g.open(config);
146  g.acquire(I);
147 
148  std::cout << "Read camera parameters from Realsense device" << std::endl;
150 #elif defined(VISP_HAVE_OPENCV)
151  std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
152  cv::VideoCapture g(opt_device); // Open the default camera
153  if (!g.isOpened()) { // Check if we succeeded
154  std::cout << "Failed to open the camera" << std::endl;
155  return -1;
156  }
157  cv::Mat frame;
158  g >> frame; // get a new frame from camera
159  vpImageConvert::convert(frame, I);
160 #endif
162 
163  std::cout << cam << std::endl;
164  std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
165  std::cout << "tagFamily: " << tagFamily << std::endl;
166  std::cout << "nThreads : " << nThreads << std::endl;
167  std::cout << "Z aligned: " << align_frame << std::endl;
168 
169  vpDisplay *d = NULL;
170  if (!display_off) {
171 #ifdef VISP_HAVE_X11
172  d = new vpDisplayX(I);
173 #elif defined(VISP_HAVE_GDI)
174  d = new vpDisplayGDI(I);
175 #elif defined(VISP_HAVE_OPENCV)
176  d = new vpDisplayOpenCV(I);
177 #endif
178  }
179 
181  vpDetectorAprilTag detector(tagFamily);
183 
185  detector.setAprilTagQuadDecimate(quad_decimate);
186  detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
187  detector.setAprilTagNbThreads(nThreads);
188  detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
189  detector.setZAlignedWithCameraAxis(align_frame);
191 
192  std::vector<double> time_vec;
193  for (;;) {
195 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
196  defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
197  g.acquire(I);
198 #elif defined(VISP_HAVE_OPENCV)
199  g >> frame;
200  vpImageConvert::convert(frame, I);
201 #endif
203 
205 
206  double t = vpTime::measureTimeMs();
208  std::vector<vpHomogeneousMatrix> cMo_vec;
209  detector.detect(I, tagSize, cam, cMo_vec);
211  t = vpTime::measureTimeMs() - t;
212  time_vec.push_back(t);
213 
214  std::stringstream ss;
215  ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
216  vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
217 
219  for (size_t i = 0; i < cMo_vec.size(); i++) {
220  vpDisplay::displayFrame(I, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
221  }
223 
224  vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
225  vpDisplay::flush(I);
226  if (vpDisplay::getClick(I, false))
227  break;
228  }
229 
230  std::cout << "Benchmark computation time" << std::endl;
231  std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
232  << " ; " << vpMath::getMedian(time_vec) << " ms"
233  << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
234 
235  if (!display_off)
236  delete d;
237 
238  } catch (const vpException &e) {
239  std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
240  }
241 
242  return EXIT_SUCCESS;
243 #else
244  (void)argc;
245  (void)argv;
246 #ifndef VISP_HAVE_APRILTAG
247  std::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
248 #else
249  std::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
250  "Realsense2), configure and build ViSP again to use this example"
251  << std::endl;
252 #endif
253 #endif
254  return EXIT_SUCCESS;
255 }
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void open(vpImage< unsigned char > &I)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void open(vpImage< unsigned char > &I)
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static vpColor getColor(const unsigned int &i)
Definition: vpColor.h:313
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
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.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:87
void open(vpImage< unsigned char > &I)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:262
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:292
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:242
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())
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void open(vpImage< unsigned char > &I)
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
XML parser to load and save intrinsic camera parameters.
int parse(vpCameraParameters &cam, const std::string &filename, const std::string &camera_name, const vpCameraParameters::vpCameraParametersProjType &projModel, unsigned int image_width=0, unsigned int image_height=0)
VISP_EXPORT double measureTimeMs()