Visual Servoing Platform  version 3.2.1 under development (2019-07-18)
tutorial-pose-from-points-live.cpp
#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#endif
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#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 VISP_HAVE_OPENCV
int main(int argc, char **argv)
{
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV)) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) )
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 0;
}
}
// Parameters of our camera
vpCameraParameters cam(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#ifdef VISP_HAVE_PUGIXML
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;
}
}
#endif
#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);
#elif defined(VISP_HAVE_DC1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use DC1394 grabber" << std::endl;
g.open(I);
#elif defined(VISP_HAVE_CMU1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use CMU1394 grabber" << std::endl;
g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)
(void)opt_device; // To avoid non used warning
std::cout << "Use FlyCapture grabber" << std::endl;
g.open(I);
#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;
#elif defined(VISP_HAVE_OPENCV)
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 -1;
}
cv::Mat frame;
g >> frame; // get a new frame from camera
#endif
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 defined(VISP_HAVE_X11)
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(VISP_HAVE_OPENCV)
#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(VISP_HAVE_OPENCV)
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;
}
#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
}