6 #include <visp3/core/vpXmlParserCamera.h>
7 #include <visp3/detection/vpDetectorAprilTag.h>
8 #include <visp3/gui/vpDisplayGDI.h>
9 #include <visp3/gui/vpDisplayOpenCV.h>
10 #include <visp3/gui/vpDisplayX.h>
11 #include <visp3/mbt/vpMbGenericTracker.h>
12 #include <visp3/sensor/vpV4l2Grabber.h>
14 #if defined(HAVE_OPENCV_VIDEOIO)
15 #include <opencv2/videoio.hpp>
18 typedef enum { state_detection, state_tracking, state_quit } state_t;
22 void createCaoFile(
double cubeEdgeSize)
24 std::ofstream fileStream;
25 fileStream.open(
"cube.cao", std::ofstream::out | std::ofstream::trunc);
27 fileStream <<
"# 3D Points\n";
28 fileStream <<
"8 # Number of points\n";
29 fileStream << cubeEdgeSize / 2 <<
" " << cubeEdgeSize / 2 <<
" " << 0 <<
" # Point 0: (X, Y, Z)\n";
30 fileStream << cubeEdgeSize / 2 <<
" " << -cubeEdgeSize / 2 <<
" " << 0 <<
" # Point 1\n";
31 fileStream << -cubeEdgeSize / 2 <<
" " << -cubeEdgeSize / 2 <<
" " << 0 <<
" # Point 2\n";
32 fileStream << -cubeEdgeSize / 2 <<
" " << cubeEdgeSize / 2 <<
" " << 0 <<
" # Point 3\n";
33 fileStream << -cubeEdgeSize / 2 <<
" " << cubeEdgeSize / 2 <<
" " << -cubeEdgeSize <<
" # Point 4\n";
34 fileStream << -cubeEdgeSize / 2 <<
" " << -cubeEdgeSize / 2 <<
" " << -cubeEdgeSize <<
" # Point 5\n";
35 fileStream << cubeEdgeSize / 2 <<
" " << -cubeEdgeSize / 2 <<
" " << -cubeEdgeSize <<
" # Point 6\n";
36 fileStream << cubeEdgeSize / 2 <<
" " << cubeEdgeSize / 2 <<
" " << -cubeEdgeSize <<
" # Point 7\n";
37 fileStream <<
"# 3D Lines\n";
38 fileStream <<
"0 # Number of lines\n";
39 fileStream <<
"# Faces from 3D lines\n";
40 fileStream <<
"0 # Number of faces\n";
41 fileStream <<
"# Faces from 3D points\n";
42 fileStream <<
"6 # Number of faces\n";
43 fileStream <<
"4 0 3 2 1 # Face 0: [number of points] [index of the 3D points]...\n";
44 fileStream <<
"4 1 2 5 6\n";
45 fileStream <<
"4 4 7 6 5\n";
46 fileStream <<
"4 0 7 4 3\n";
47 fileStream <<
"4 5 2 3 4\n";
48 fileStream <<
"4 0 1 6 7 # Face 5\n";
49 fileStream <<
"# 3D cylinders\n";
50 fileStream <<
"0 # Number of cylinders\n";
51 fileStream <<
"# 3D circles\n";
52 fileStream <<
"0 # Number of circles\n";
56 #if defined(VISP_HAVE_APRILTAG)
60 std::vector<vpHomogeneousMatrix> cMo_vec;
63 bool ret = detector.
detect(I, tagSize, cam, cMo_vec);
66 for (
size_t i = 0; i < cMo_vec.size(); i++) {
74 return state_tracking;
77 return state_detection;
92 return state_detection;
99 if (projection_error > projection_error_threshold) {
100 return state_detection;
108 std::stringstream ss;
113 return state_tracking;
116 int main(
int argc,
const char **argv)
119 #if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_V4L2) || defined(HAVE_OPENCV_VIDEOIO)) && defined(VISP_HAVE_MODULE_MBT)
124 double opt_tag_size = 0.08;
125 float opt_quad_decimate = 1.0;
126 int opt_nthreads = 1;
127 std::string opt_intrinsic_file =
"";
128 std::string opt_camera_name =
"";
129 double opt_cube_size = 0.125;
130 #ifdef VISP_HAVE_OPENCV
131 bool opt_use_texture =
false;
133 double opt_projection_error_threshold = 40.;
135 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
136 bool display_off =
true;
138 bool display_off =
false;
141 for (
int i = 1; i < argc; i++) {
142 if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
143 opt_tag_size = atof(argv[i + 1]);
145 else if (std::string(argv[i]) ==
"--input" && i + 1 < argc) {
146 opt_device = atoi(argv[i + 1]);
148 else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
149 opt_quad_decimate = (float)atof(argv[i + 1]);
151 else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
152 opt_nthreads = atoi(argv[i + 1]);
154 else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
155 opt_intrinsic_file = std::string(argv[i + 1]);
157 else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
158 opt_camera_name = std::string(argv[i + 1]);
160 else if (std::string(argv[i]) ==
"--display_off") {
163 else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
166 else if (std::string(argv[i]) ==
"--cube_size" && i + 1 < argc) {
167 opt_cube_size = atof(argv[i + 1]);
168 #ifdef VISP_HAVE_OPENCV
170 else if (std::string(argv[i]) ==
"--texture") {
171 opt_use_texture =
true;
174 else if (std::string(argv[i]) ==
"--projection_error" && i + 1 < argc) {
175 opt_projection_error_threshold = atof(argv[i + 1]);
177 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
178 std::cout <<
"Usage: " << argv[0]
179 <<
" [--input <camera id>] [--cube_size <size in m>] [--tag_size <size in m>]"
180 " [--quad_decimate <decimation>] [--nthreads <nb>]"
181 " [--intrinsic <xml intrinsic file>] [--camera_name <camera name in xml file>]"
182 " [--tag_family <0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT, "
183 " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5>]";
184 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
185 std::cout <<
" [--display_off]";
187 std::cout <<
" [--texture] [--projection_error <30 - 100>] [--help]" << std::endl;
192 createCaoFile(opt_cube_size);
195 bool camIsInit =
false;
196 #if defined(VISP_HAVE_PUGIXML)
198 if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
208 #if defined(VISP_HAVE_V4L2)
210 std::ostringstream device;
211 device <<
"/dev/video" << opt_device;
212 std::cout <<
"Use device " << device.str() <<
" (v4l2 grabber)" << std::endl;
216 #elif defined(HAVE_OPENCV_VIDEOIO)
217 std::cout <<
"Use device " << opt_device <<
" (OpenCV grabber)" << std::endl;
218 cv::VideoCapture cap(opt_device);
219 if (!cap.isOpened()) {
220 std::cout <<
"Failed to open the camera" << std::endl;
231 std::cout <<
"Cube size: " << opt_cube_size << std::endl;
232 std::cout <<
"AprilTag size: " << opt_tag_size << std::endl;
233 std::cout <<
"AprilTag family: " << opt_tag_family << std::endl;
234 std::cout <<
"Camera parameters:\n" << cam << std::endl;
235 std::cout <<
"Detection: " << std::endl;
236 std::cout <<
" Quad decimate: " << opt_quad_decimate << std::endl;
237 std::cout <<
" Threads number: " << opt_nthreads << std::endl;
238 std::cout <<
"Tracker: " << std::endl;
239 std::cout <<
" Use edges : 1" << std::endl;
240 std::cout <<
" Use texture: "
241 #ifdef VISP_HAVE_OPENCV
242 << opt_use_texture << std::endl;
244 <<
" na" << std::endl;
246 std::cout <<
" Projection error: " << opt_projection_error_threshold << std::endl;
253 #elif defined(VISP_HAVE_GDI)
255 #elif defined(HAVE_OPENCV_HIGHGUI)
267 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
285 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
286 if (opt_use_texture) {
309 state_t state = state_detection;
312 while (state != state_quit) {
314 #if defined(VISP_HAVE_V4L2)
316 #elif defined(HAVE_OPENCV_VIDEOIO)
323 if (state == state_detection) {
324 state = detectAprilTag(I, detector, opt_tag_size, cam, cMo);
327 if (state == state_tracking) {
334 if (state == state_tracking) {
335 state = track(I, tracker, opt_projection_error_threshold, cMo);
350 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
357 #ifndef VISP_HAVE_APRILTAG
358 std::cout <<
"ViSP is not build with Apriltag support" << std::endl;
360 #if !(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_OPENCV))
361 std::cout <<
"ViSP is not build with v4l2 or OpenCV support" << std::endl;
363 std::cout <<
"Install missing 3rd parties, configure and build ViSP to run this tutorial" << 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 const vpColor none
void setAprilTagQuadDecimate(float quadDecimate)
bool detect(const vpImage< unsigned char > &I) vp_override
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
void setAprilTagNbThreads(int nThreads)
size_t getNbObjects() const
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 convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
unsigned int getWidth() const
unsigned int getHeight() const
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
Real-time 6D object pose tracking using its CAD model.
virtual void initFromPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo) vp_override
virtual void setKltMaskBorder(const unsigned int &e)
virtual unsigned int getNbFeaturesEdge() const
virtual void setAngleDisappear(const double &a) vp_override
virtual void getPose(vpHomogeneousMatrix &cMo) const vp_override
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) vp_override
virtual void getCameraParameters(vpCameraParameters &camera) const vp_override
virtual unsigned int getNbFeaturesKlt() const
virtual void setMovingEdge(const vpMe &me)
virtual void setAngleAppear(const double &a) vp_override
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) vp_override
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void setCameraParameters(const vpCameraParameters &camera) vp_override
virtual void setTrackerType(int type)
virtual double computeCurrentProjectionError(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam) vp_override
virtual void setDisplayFeatures(bool displayF) vp_override
virtual void track(const vpImage< unsigned char > &I) vp_override
void setMu1(const double &mu_1)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setMaskNumber(const unsigned int &mask_number)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void setMaskSize(const unsigned int &mask_size)
void setMu2(const double &mu_2)
Class that is a wrapper over the Video4Linux2 (V4L2) driver.
void setScale(unsigned scale=vpV4l2Grabber::DEFAULT_SCALE)
void setDevice(const std::string &devname)
void acquire(vpImage< unsigned char > &I)
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)