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>
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>
27 int main(
int argc,
const char **argv)
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))
38 double tagSize = 0.053;
39 float quad_decimate = 1.0;
41 std::string intrinsic_file =
"";
42 std::string camera_name =
"";
43 bool display_tag =
false;
45 unsigned int thickness = 2;
46 bool align_frame =
false;
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;
52 bool display_off =
false;
57 for (
int i = 1; i < argc; i++) {
58 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
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") {
74 }
else if (std::string(argv[i]) ==
"--display_off") {
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) {
82 }
else if (std::string(argv[i]) ==
"--z_aligned") {
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>]";
101 std::cout <<
" [--help]" << std::endl;
110 if (!intrinsic_file.empty() && !camera_name.empty())
114 #if defined(VISP_HAVE_V4L2)
116 std::ostringstream device;
117 device <<
"/dev/video" << opt_device;
118 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
122 #elif defined(VISP_HAVE_DC1394)
124 std::cout <<
"Use DC1394 grabber" << std::endl;
127 #elif defined(VISP_HAVE_CMU1394)
129 std::cout <<
"Use CMU1394 grabber" << std::endl;
132 #elif defined(VISP_HAVE_FLYCAPTURE)
134 std::cout <<
"Use FlyCapture grabber" << std::endl;
137 #elif defined(VISP_HAVE_REALSENSE2)
139 std::cout <<
"Use Realsense 2 grabber" << std::endl;
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);
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);
154 std::cout <<
"Failed to open the camera" << std::endl;
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;
173 #elif defined(VISP_HAVE_GDI)
175 #elif defined(VISP_HAVE_OPENCV)
185 detector.setAprilTagQuadDecimate(quad_decimate);
186 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
187 detector.setAprilTagNbThreads(nThreads);
189 detector.setZAlignedWithCameraAxis(align_frame);
192 std::vector<double> time_vec;
195 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
196 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
198 #elif defined(VISP_HAVE_OPENCV)
208 std::vector<vpHomogeneousMatrix> cMo_vec;
209 detector.detect(I, tagSize, cam, cMo_vec);
212 time_vec.push_back(t);
214 std::stringstream ss;
215 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
219 for (
size_t i = 0; i < cMo_vec.size(); i++) {
230 std::cout <<
"Benchmark computation time" << std::endl;
231 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
239 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
246 #ifndef VISP_HAVE_APRILTAG
247 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
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"
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)
@ perspectiveProjWithoutDistortion
static vpColor getColor(const unsigned int &i)
static const vpColor none
@ 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
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)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static double getMean(const std::vector< double > &v)
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()