1 #include <visp3/detection/vpDetectorAprilTag.h>
5 #include <visp3/core/vpXmlParserCamera.h>
6 #include <visp3/gui/vpDisplayGDI.h>
7 #include <visp3/gui/vpDisplayOpenCV.h>
8 #include <visp3/gui/vpDisplayX.h>
9 #include <visp3/io/vpImageIo.h>
11 int main(
int argc,
const char **argv)
14 #if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
17 std::string input_filename =
"AprilTag.pgm";
20 double tagSize = 0.053;
21 float quad_decimate = 1.0;
23 std::string intrinsic_file =
"";
24 std::string camera_name =
"";
25 bool display_tag =
false;
27 unsigned int thickness = 2;
28 bool z_aligned =
false;
30 for (
int i = 1; i < argc; i++) {
31 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
34 else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
35 tagSize = atof(argv[i + 1]);
37 else if (std::string(argv[i]) ==
"--input" && i + 1 < argc) {
38 input_filename = std::string(argv[i + 1]);
40 else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
41 quad_decimate = (float)atof(argv[i + 1]);
43 else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
44 nThreads = atoi(argv[i + 1]);
46 else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
47 intrinsic_file = std::string(argv[i + 1]);
49 else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
50 camera_name = std::string(argv[i + 1]);
52 else if (std::string(argv[i]) ==
"--display_tag") {
55 else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
56 color_id = atoi(argv[i + 1]);
58 else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
59 thickness = (
unsigned int)atoi(argv[i + 1]);
61 else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
64 else if (std::string(argv[i]) ==
"--z_aligned") {
67 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
68 std::cout <<
"Usage: " << argv[0]
69 <<
" [--input <input file>] [--tag_size <tag_size in m>]"
70 " [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
71 " [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
72 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
73 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
74 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
75 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
76 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
77 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
78 " [--display_tag] [--color <color_id (0, 1, ...)>]"
79 " [--thickness <thickness>] [--z_aligned]"
88 #if defined(VISP_HAVE_PUGIXML)
90 if (!intrinsic_file.empty() && !camera_name.empty()) {
95 std::cout << cam << std::endl;
96 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
97 std::cout <<
"tagFamily: " << tagFamily << std::endl;
98 std::cout <<
"nThreads : " << nThreads << std::endl;
99 std::cout <<
"Z aligned: " << z_aligned << std::endl;
109 #elif defined(VISP_HAVE_GDI)
111 #elif defined(HAVE_OPENCV_HIGHGUI)
120 detector.setAprilTagQuadDecimate(quad_decimate);
121 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
122 detector.setAprilTagNbThreads(nThreads);
124 detector.setZAlignedWithCameraAxis(z_aligned);
131 std::vector<vpHomogeneousMatrix> cMo_vec;
132 detector.detect(I, tagSize, cam, cMo_vec);
136 std::stringstream ss;
137 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
141 for (
size_t i = 0; i < detector.getNbObjects(); i++) {
144 std::vector<vpImagePoint> p = detector.getPolygon(i);
145 vpRect bbox = detector.getBBox(i);
149 std::string message = detector.getMessage(i);
152 std::size_t tag_id_pos = message.find(
"id: ");
153 if (tag_id_pos != std::string::npos) {
154 int tag_id = atoi(message.substr(tag_id_pos + 4).c_str());
156 ss <<
"Tag id: " << tag_id;
160 for (
size_t j = 0; j < p.size(); j++) {
162 std::ostringstream number;
175 for (
size_t i = 0; i < cMo_vec.size(); i++) {
186 #elif defined(VISP_HAVE_GDI)
188 #elif defined(HAVE_OPENCV_HIGHGUI)
195 std::vector<std::vector<vpImagePoint> > tagsCorners = detector.getTagsCorners();
196 tagsCorners.pop_back();
197 detector.displayTags(I_color, tagsCorners,
vpColor::none, 3);
200 detector.displayFrames(I_color, cMo_vec, cam, tagSize / 2,
vpColor::none, 3);
207 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static vpColor getColor(const unsigned int &i)
static const vpColor none
static const vpColor blue
static const vpColor green
@ 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...
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 displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void flush(const vpImage< unsigned char > &I)
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
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
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Defines a rectangle in the plane.
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, bool verbose=true)
VISP_EXPORT double measureTimeMs()