tutorial-chessboard-pose.cpp

#include <iostream>
 
#include <visp3/core/vpConfig.h>
 
#if VISP_HAVE_OPENCV_VERSION >= 0x020300
 
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
 
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpPixelMeterConversion.h>
#include <visp3/core/vpPoint.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/vision/vpPose.h>
 
namespace
{
void calcChessboardCorners(int width, int height, double squareSize, std::vector<vpPoint> &corners)
{
  corners.resize(0);
 
  for (int i = 0; i < height; i++) {
    for (int j = 0; j < width; j++) {
      vpPoint pt;
      pt.set_oX(j * squareSize);
      pt.set_oY(i * squareSize);
      pt.set_oZ(0.0);
      corners.push_back(pt);
    }
  }
}
 
void usage(const char **argv, int error)
{
  std::cout << "Synopsis" << std::endl
            << "  " << argv[0] << " [-w <chessboard width>] [-h <chessboard height>]"
            << " [--square_size <square size in meter>]"
            << " [--input <input images path>]"
            << " [--intrinsic <Camera intrinsic parameters xml file>]"
            << " [--camera_name <Camera name in the xml intrinsic file>]"
            << " [--output <camera pose files>]"
            << " [--help] [-h]" << std::endl
            << std::endl;
  std::cout << "Description" << std::endl
            << "  -w <chessboard width>  Chessboard width." << std::endl
            << "    Default: 9." << std::endl
            << std::endl
            << "  -h <chessboard height>  Chessboard height." << std::endl
            << "    Default: 6." << std::endl
            << std::endl
            << "  --square_size <square size in meter>  Chessboard square size in [m]." << std::endl
            << "    Default: 0.03." << std::endl
            << std::endl
            << "  --input <input images path>  Generic name of the images to process." << std::endl
            << "    Example: \"image-%02d.png\"." << std::endl
            << std::endl
            << "  --intrinsic <Camera intrinsic parameters xml file>  XML file that contains" << std::endl
            << "    camera parameters. " << std::endl
            << "    Default: \"camera.xml\"." << std::endl
            << std::endl
            << "  --camera_name <Camera name in the xml intrinsic file>  Camera name in the XML file." << std::endl
            << "    Default: \"Camera\"." << std::endl
            << std::endl
            << "  --output <camera pose files>  Generic name of the yaml files that contains the camera poses."
            << std::endl
            << "    Example: \"pose_cMo-%d.yaml\"." << std::endl
            << std::endl
            << "  --help, -h  Print this helper message." << std::endl
            << std::endl;
  if (error) {
    std::cout << "Error" << std::endl
              << "  "
              << "Unsupported parameter " << argv[error] << std::endl;
  }
}
} // namespace
 
int main(int argc, const char **argv)
{
  int opt_chessboard_width = 9, opt_chessboard_height = 6;
  double opt_chessboard_square_size = 0.03;
  std::string opt_input_img_files = "";
  std::string opt_intrinsic_file = "camera.xml";
  std::string opt_camera_name = "Camera";
  std::string opt_output_pose_files = "pose_cPo_%d.yaml";
 
  for (int i = 1; i < argc; i++) {
    if (std::string(argv[i]) == "-w" && i + 1 < argc) {
      opt_chessboard_width = atoi(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "-h" && i + 1 < argc) {
      opt_chessboard_height = atoi(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--square_size" && i + 1 < argc) {
      opt_chessboard_square_size = atof(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
      opt_input_img_files = std::string(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
      opt_intrinsic_file = std::string(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--output" && i + 1 < argc) {
      opt_output_pose_files = std::string(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
      opt_camera_name = std::string(argv[i + 1]);
      i++;
    } else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
      usage(argv, 0);
      return EXIT_SUCCESS;
    } else {
      usage(argv, i);
      return EXIT_FAILURE;
    }
  }
 
  if (!vpIoTools::checkFilename(opt_intrinsic_file)) {
    std::cout << "Camera parameters file " << opt_intrinsic_file << " doesn't exist." << std::endl;
    std::cout << "Use --help option to see how to set its location..." << std::endl;
    return EXIT_SUCCESS;
  }
  std::cout << "Parameters:" << std::endl;
  std::cout << "  chessboard width             : " << opt_chessboard_width << std::endl;
  std::cout << "  chessboard height            : " << opt_chessboard_height << std::endl;
  std::cout << "  chessboard square size [m]   : " << opt_chessboard_square_size << std::endl;
  std::cout << "  input images location        : " << opt_input_img_files << std::endl;
  std::cout << "  camera param file name [.xml]: " << opt_intrinsic_file << std::endl;
  std::cout << "  camera name                  : " << opt_camera_name << std::endl;
  std::cout << "  output camera poses          : " << opt_output_pose_files << std::endl << std::endl;
 
  if (opt_input_img_files.empty()) {
    std::cout << "Input images location empty." << std::endl;
    std::cout << "Use --help option to see how to set input image location..." << std::endl;
    return EXIT_FAILURE;
  }
 
  try {
    vpVideoReader reader;
    reader.setFileName(opt_input_img_files);
 
    vpImage<vpRGBa> I;
    reader.open(I);
 
#ifdef VISP_HAVE_X11
    vpDisplayX d(I);
#elif defined VISP_HAVE_GDI
    vpDisplayGDI d(I);
#elif defined VISP_HAVE_OPENCV
    vpDisplayOpenCV d(I);
#endif
 
    std::vector<vpPoint> corners_pts;
    calcChessboardCorners(opt_chessboard_width, opt_chessboard_height, opt_chessboard_square_size, corners_pts);
 
    vpCameraParameters cam;
    vpXmlParserCamera parser;
    if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
      if (parser.parse(cam, opt_intrinsic_file, opt_camera_name, vpCameraParameters::perspectiveProjWithDistortion) !=
          vpXmlParserCamera::SEQUENCE_OK) {
        std::cout << "Unable to parse parameters with distorsion for camera \"" << opt_camera_name << "\" from "
                  << opt_intrinsic_file << " file" << std::endl;
        std::cout << "Attempt to find parameters without distorsion" << std::endl;
 
        if (parser.parse(cam, opt_intrinsic_file, opt_camera_name,
                         vpCameraParameters::perspectiveProjWithoutDistortion) != vpXmlParserCamera::SEQUENCE_OK) {
          std::cout << "Unable to parse parameters without distorsion for camera \"" << opt_camera_name << "\" from "
                    << opt_intrinsic_file << " file" << std::endl;
          return EXIT_FAILURE;
        }
      }
    }
    std::cout << "Camera parameters used to compute the pose:\n" << cam << std::endl;
 
    bool quit = false;
    do {
      reader.acquire(I);
      vpDisplay::setTitle(I, reader.getFrameName());
 
      cv::Mat matImg;
      vpImageConvert::convert(I, matImg);
 
      vpDisplay::displayText(I, 20, 20, "Right click to quit.", vpColor::red);
 
      cv::Size chessboardSize(opt_chessboard_width, opt_chessboard_height);
      std::vector<cv::Point2f> corners2D;
      bool found = cv::findChessboardCorners(matImg, chessboardSize, corners2D,
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
                                             cv::CALIB_CB_ADAPTIVE_THRESH | cv::CALIB_CB_FAST_CHECK |
                                                 cv::CALIB_CB_NORMALIZE_IMAGE);
#else
                                             CV_CALIB_CB_ADAPTIVE_THRESH | CV_CALIB_CB_FAST_CHECK |
                                                 CV_CALIB_CB_NORMALIZE_IMAGE);
#endif
 
      vpHomogeneousMatrix cMo;
      if (found) {
        cv::Mat matImg_gray;
        cv::cvtColor(matImg, matImg_gray, cv::COLOR_BGR2GRAY);
        cv::cornerSubPix(matImg_gray, corners2D, cv::Size(11, 11), cv::Size(-1, -1),
#if (VISP_HAVE_OPENCV_VERSION >= 0x030000)
                         cv::TermCriteria(cv::TermCriteria::EPS + cv::TermCriteria::COUNT, 30, 0.1));
#else
                         cv::TermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 30, 0.1));
#endif
 
        for (size_t i = 0; i < corners_pts.size(); i++) {
          vpImagePoint imPt(corners2D[i].y, corners2D[i].x);
          double x = 0.0, y = 0.0;
          vpPixelMeterConversion::convertPoint(cam, imPt, x, y);
          corners_pts[i].set_x(x);
          corners_pts[i].set_y(y);
        }
 
        vpPose pose;
        pose.addPoints(corners_pts);
        vpHomogeneousMatrix cMo_dementhon, cMo_lagrange;
        double r_dementhon = std::numeric_limits<double>::max(), r_lagrange = std::numeric_limits<double>::max();
        bool pose_dementhon = pose.computePose(vpPose::DEMENTHON, cMo_dementhon);
        if (pose_dementhon)
          r_dementhon = pose.computeResidual(cMo_dementhon);
 
        bool pose_lagrange = pose.computePose(vpPose::LAGRANGE, cMo_lagrange);
        if (pose_lagrange)
          r_lagrange = pose.computeResidual(cMo_lagrange);
 
        cMo = (r_dementhon < r_lagrange) ? cMo_dementhon : cMo_lagrange;
        if (!pose.computePose(vpPose::VIRTUAL_VS, cMo)) {
          std::cerr << "Problem when computing final pose using VVS" << std::endl;
          return EXIT_FAILURE;
        }
 
        cv::drawChessboardCorners(matImg, chessboardSize, corners2D, found);
        vpImageConvert::convert(matImg, I);
      }
 
      vpDisplay::display(I);
 
      vpDisplay::displayText(I, 20, 20, "Left click for the next image, right click to quit.", vpColor::red);
      if (found)
        vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
 
      vpDisplay::flush(I);
 
      if (found) {
        vpPoseVector pose_vec(cMo);
        char name[FILENAME_MAX];
        sprintf(name, opt_output_pose_files.c_str(), reader.getFrameIndex());
        std::string s = name;
        std::cout << "Save " << s << std::endl;
        pose_vec.saveYAML(s, pose_vec);
      }
 
      vpMouseButton::vpMouseButtonType button;
      if (vpDisplay::getClick(I, button, true)) {
        switch (button) {
        case vpMouseButton::button3:
          quit = true;
          break;
 
        default:
          break;
        }
      }
    } while (!quit && !reader.end());
  } catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
  }
 
  return EXIT_SUCCESS;
}
#else
int main()
{
  std::cerr << "OpenCV 2.3.0 or higher is requested to run the calibration." << std::endl;
  return EXIT_SUCCESS;
}
#endif