tutorial-pose-from-points-live.cpp

 
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
 
#if defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio.hpp>
#endif
 
#include "pose_helper.h"
 
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef VISP_HAVE_DC1394
// #undef VISP_HAVE_CMU1394
// #undef VISP_HAVE_FLYCAPTURE
// #undef VISP_HAVE_REALSENSE2
// #undef HAVE_OPENCV_VIDEOIO
 
int main(int argc, char **argv)
{
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && defined(VISP_HAVE_PUGIXML) && \
    (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
     defined(HAVE_OPENCV_VIDEOIO) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2))
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
  try {
    std::string opt_intrinsic_file; // xml file obtained from camera calibration
    std::string opt_camera_name;    // corresponding camera name in the xml calibration file
    double opt_square_width = 0.12;
    int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
 
    for (int i = 0; i < argc; i++) {
      if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
        opt_intrinsic_file = std::string(argv[i + 1]);
      }
      else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
        opt_camera_name = std::string(argv[i + 1]);
      }
      else if (std::string(argv[i]) == "--camera_device" && i + 1 < argc) {
        opt_device = atoi(argv[i + 1]);
      }
      else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
        std::cout << "\nUsage: " << argv[0] << " [--camera_device <camera device> (default: 0)]"
          << " [--intrinsic <xml calibration file> (default: empty)]"
          " [--camera_name <camera name in xml calibration file> (default: empty)]"
          " [--square_width <square width in meter (default: 0.12)] [--help] [-h]\n"
          << "\nExample using default camera parameters and square size:\n"
          << "  " << argv[0] << "\n"
          << "\nExample fully tuned for a 0.1m x 0.1m square:\n"
          << "  " << argv[0] << " --intrinsic camera.xml --camera_name Camera --square_width 0.1\n"
          << std::endl;
        return EXIT_SUCCESS;
      }
    }
 
    vpImage<unsigned char> I;
 
    // Parameters of our camera
    vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
    vpXmlParserCamera parser;
    if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
      std::cout << "Intrinsic file: " << opt_intrinsic_file << std::endl;
      std::cout << "Camera name   : " << opt_camera_name << std::endl;
      if (parser.parse(cam, opt_intrinsic_file, opt_camera_name, vpCameraParameters::perspectiveProjWithDistortion) ==
          vpXmlParserCamera::SEQUENCE_OK) {
        std::cout << "Succeed to read camera parameters from xml file" << std::endl;
      }
      else {
        std::cout << "Unable to read camera parameters from xml file" << std::endl;
      }
    }
 
#if defined(VISP_HAVE_V4L2)
    vpV4l2Grabber g;
    std::ostringstream device;
    device << "/dev/video" << opt_device;
    std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
    g.setDevice(device.str());
    g.setScale(1);
    g.open(I);
#elif defined(VISP_HAVE_DC1394)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use DC1394 grabber" << std::endl;
    vp1394TwoGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_CMU1394)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use CMU1394 grabber" << std::endl;
    vp1394CMUGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use FlyCapture grabber" << std::endl;
    vpFlyCaptureGrabber g;
    g.open(I);
#elif defined(VISP_HAVE_REALSENSE2)
    (void)opt_device; // To avoid non used warning
    std::cout << "Use Realsense 2 grabber" << std::endl;
    vpRealSense2 g;
    rs2::config config;
    config.disable_stream(RS2_STREAM_DEPTH);
    config.disable_stream(RS2_STREAM_INFRARED);
    config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
    g.open(config);
    g.acquire(I);
 
    std::cout << "Read camera parameters from Realsense device" << std::endl;
    cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
#elif defined(HAVE_OPENCV_VIDEOIO)
    std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
    cv::VideoCapture g(opt_device); // Open the default camera
    if (!g.isOpened()) {            // Check if we succeeded
      std::cout << "Failed to open the camera" << std::endl;
      return EXIT_FAILURE;
    }
    cv::Mat frame;
    g >> frame; // get a new frame from camera
    vpImageConvert::convert(frame, I);
#endif
 
    std::cout << "Square width  : " << opt_square_width << std::endl;
    std::cout << cam << std::endl;
 
    // The pose container
    vpHomogeneousMatrix cMo;
 
    std::vector<vpDot2> dot(4);
    std::vector<vpPoint> point;   // 3D coordinates of the points
    std::vector<vpImagePoint> ip; // 2D coordinates of the points in pixels
    double L = opt_square_width / 2.;
    point.push_back(vpPoint(-L, -L, 0));
    point.push_back(vpPoint(L, -L, 0));
    point.push_back(vpPoint(L, L, 0));
    point.push_back(vpPoint(-L, L, 0));
 
#if defined(VISP_HAVE_X11)
    vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI d(I);
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV d(I);
#endif
 
    bool quit = false;
    bool apply_cv = false; // apply computer vision
    bool init_cv = true;   // initialize tracking and pose computation
 
    while (!quit) {
      double t_begin = vpTime::measureTimeMs();
      // Image Acquisition
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
    defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
      g.acquire(I);
#elif defined(HAVE_OPENCV_VIDEOIO)
      g >> frame;
      vpImageConvert::convert(frame, I);
#endif
      vpDisplay::display(I);
      if (apply_cv) {
        try {
          ip = track(I, dot, init_cv);
          computePose(point, ip, cam, init_cv, cMo);
          vpDisplay::displayFrame(I, cMo, cam, opt_square_width, vpColor::none, 3);
          if (init_cv)
            init_cv = false; // turn off the computer vision initialisation specific stuff
 
          { // Display estimated pose in [m] and [deg]
            vpPoseVector pose(cMo);
            std::stringstream ss;
            ss << "Translation: " << std::setprecision(5) << pose[0] << " " << pose[1] << " " << pose[2] << " [m]";
            vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
            ss.str(""); // erase ss
            ss << "Rotation tu: " << std::setprecision(4) << vpMath::deg(pose[3]) << " " << vpMath::deg(pose[4]) << " "
              << vpMath::deg(pose[5]) << " [deg]";
            vpDisplay::displayText(I, 80, 20, ss.str(), vpColor::red);
          }
        }
        catch (...) {
          std::cout << "Computer vision failure." << std::endl;
          apply_cv = false;
          init_cv = true;
        }
      }
      vpDisplay::displayText(I, 20, 20, "Right click: quit", vpColor::red);
      if (apply_cv) {
        vpDisplay::displayText(I, 40, 20, "Computer vision in progress...", vpColor::red);
      }
      else {
        vpDisplay::displayText(I, 40, 20, "Left click : start", vpColor::red);
      }
      vpMouseButton::vpMouseButtonType button;
      if (vpDisplay::getClick(I, button, false)) {
        if (button == vpMouseButton::button3) {
          quit = true;
        }
        else if (button == vpMouseButton::button1) {
          apply_cv = true;
        }
      }
      {
        std::stringstream ss;
        ss << "Time: " << vpTime::measureTimeMs() - t_begin << " ms";
        vpDisplay::displayText(I, 20, I.getWidth() - 100, ss.str(), vpColor::red);
      }
      vpDisplay::flush(I);
    }
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e.getMessage() << std::endl;
  }
#elif (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
  (void)argc;
  (void)argv;
  std::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, "
    "Realsense2), configure and build ViSP again to use this example"
    << std::endl;
#else
  (void)argc;
  (void)argv;
  std::cout << "Install a 3rd party dedicated to image display (X11, GDI, OpenCV), configure and build ViSP again to "
    "use this example"
    << std::endl;
#endif
  }