Visual Servoing Platform  version 3.6.1 under development (2025-02-19)
tutorial-pose-from-points-live.cpp
#include <iostream>
#include <visp3/core/vpConfig.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_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
#if defined(VISP_HAVE_DISPLAY) && defined(VISP_HAVE_PUGIXML) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)) || \
((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
#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/vpDisplayFactory.h>
#if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
#endif
#include "pose_helper.h"
int main(int argc, char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#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 = 1; i < argc; i++) {
if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
opt_intrinsic_file = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--camera-name" && i + 1 < argc) {
opt_camera_name = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--camera-device" && i + 1 < argc) {
opt_device = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--square-width" && i + 1 < argc) {
opt_device = atoi(argv[++i]);
}
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"
<< std::endl
<< "Example using default camera parameters and square size:\n"
<< " " << argv[0] << "\n"
<< std::endl
<< "Example 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;
}
}
#if defined(VISP_HAVE_V4L2)
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);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_DC1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use DC1394 grabber" << std::endl;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_CMU1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use CMU1394 grabber" << std::endl;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_FLYCAPTURE)
(void)opt_device; // To avoid non used warning
std::cout << "Use FlyCapture grabber" << std::endl;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_REALSENSE2)
(void)opt_device; // To avoid non used warning
std::cout << "Use Realsense 2 grabber" << std::endl;
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 ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && 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
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#endif
// Parameters of our camera
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) ==
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;
}
}
std::cout << "Square width : " << opt_square_width << std::endl;
std::cout << cam << std::endl;
// The pose container
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 (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#else
#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 ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
g >> frame;
#endif
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);
}
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);
}
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
}
#else
int main()
{
std::cout << "There are missing 3rd parties to run this tutorial" << std::endl;
}
#endif
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
Class for firewire ieee1394 video devices using libdc1394-2.x api.
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithDistortion
Perspective projection with distortion model.
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static const vpColor red
Definition: vpColor.h:198
static const vpColor none
Definition: vpColor.h:210
Class that defines generic functionalities for display.
Definition: vpDisplay.h:178
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.
Definition: vpException.h:60
const char * getMessage() const
Definition: vpException.cpp:65
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
Definition: vpImage.h:242
unsigned int getHeight() const
Definition: vpImage.h:181
static double deg(double rad)
Definition: vpMath.h:119
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Definition: vpPoint.h:79
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:203
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)
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)
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.
VISP_EXPORT double measureTimeMs()