4 #include <visp3/core/vpConfig.h>
17 #if defined(VISP_HAVE_DISPLAY) && defined(VISP_HAVE_PUGIXML) && \
18 (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
19 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)) || \
20 ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
22 #ifdef VISP_HAVE_MODULE_SENSOR
23 #include <visp3/sensor/vp1394CMUGrabber.h>
24 #include <visp3/sensor/vp1394TwoGrabber.h>
25 #include <visp3/sensor/vpFlyCaptureGrabber.h>
26 #include <visp3/sensor/vpRealSense2.h>
27 #include <visp3/sensor/vpV4l2Grabber.h>
29 #include <visp3/core/vpXmlParserCamera.h>
30 #include <visp3/gui/vpDisplayFactory.h>
32 #if (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
33 #include <opencv2/highgui/highgui.hpp>
34 #elif (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
35 #include <opencv2/videoio/videoio.hpp>
38 #include "pose_helper.h"
40 int main(
int argc,
char **argv)
42 #ifdef ENABLE_VISP_NAMESPACE
45 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
46 std::shared_ptr<vpDisplay> display;
51 std::string opt_intrinsic_file;
52 std::string opt_camera_name;
53 double opt_square_width = 0.12;
56 for (
int i = 1; i < argc; i++) {
57 if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
58 opt_intrinsic_file = std::string(argv[++i]);
60 else if (std::string(argv[i]) ==
"--camera-name" && i + 1 < argc) {
61 opt_camera_name = std::string(argv[++i]);
63 else if (std::string(argv[i]) ==
"--camera-device" && i + 1 < argc) {
64 opt_device = atoi(argv[++i]);
66 else if (std::string(argv[i]) ==
"--square-width" && i + 1 < argc) {
67 opt_device = atoi(argv[++i]);
69 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
70 std::cout <<
"\nUsage: " << argv[0]
71 <<
" [--camera-device <camera device> (default: 0)]"
72 <<
" [--intrinsic <xml calibration file> (default: empty)]"
73 <<
" [--camera-name <camera name in xml calibration file> (default: empty)]"
74 <<
" [--square-width <square width in meter (default: 0.12)]"
77 <<
"Example using default camera parameters and square size:\n"
78 <<
" " << argv[0] <<
"\n"
80 <<
"Example fully tuned for a 0.1m x 0.1m square:\n"
81 <<
" " << argv[0] <<
" --intrinsic camera.xml --camera-name Camera --square-width 0.1\n"
91 #if defined(VISP_HAVE_V4L2)
93 std::ostringstream device;
94 device <<
"/dev/video" << opt_device;
95 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
100 #elif defined(VISP_HAVE_DC1394)
102 std::cout <<
"Use DC1394 grabber" << std::endl;
106 #elif defined(VISP_HAVE_CMU1394)
108 std::cout <<
"Use CMU1394 grabber" << std::endl;
112 #elif defined(VISP_HAVE_FLYCAPTURE)
114 std::cout <<
"Use FlyCapture grabber" << std::endl;
118 #elif defined(VISP_HAVE_REALSENSE2)
120 std::cout <<
"Use Realsense 2 grabber" << std::endl;
123 config.disable_stream(RS2_STREAM_DEPTH);
124 config.disable_stream(RS2_STREAM_INFRARED);
125 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
129 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
131 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
132 std::cout <<
"Use OpenCV grabber on device " << opt_device << std::endl;
133 cv::VideoCapture g(opt_device);
135 std::cout <<
"Failed to open the camera" << std::endl;
147 if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
148 std::cout <<
"Intrinsic file: " << opt_intrinsic_file << std::endl;
149 std::cout <<
"Camera name : " << opt_camera_name << std::endl;
152 std::cout <<
"Succeed to read camera parameters from xml file" << std::endl;
155 std::cout <<
"Unable to read camera parameters from xml file" << std::endl;
159 std::cout <<
"Square width : " << opt_square_width << std::endl;
160 std::cout << cam << std::endl;
165 std::vector<vpDot2> dot(4);
166 std::vector<vpPoint> point;
167 std::vector<vpImagePoint> ip;
168 double L = opt_square_width / 2.;
169 point.push_back(
vpPoint(-L, -L, 0));
170 point.push_back(
vpPoint(L, -L, 0));
171 point.push_back(
vpPoint(L, L, 0));
172 point.push_back(
vpPoint(-L, L, 0));
174 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
181 bool apply_cv =
false;
187 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
188 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
190 #elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
197 ip = track(I, dot, init_cv);
198 computePose(point, ip, cam, init_cv, cMo);
205 std::stringstream ss;
206 ss <<
"Translation: " << std::setprecision(5) << pose[0] <<
" " << pose[1] <<
" " << pose[2] <<
" [m]";
209 ss <<
"Rotation tu: " << std::setprecision(4) <<
vpMath::deg(pose[3]) <<
" " <<
vpMath::deg(pose[4]) <<
" "
215 std::cout <<
"Computer vision failure." << std::endl;
237 std::stringstream ss;
245 std::cout <<
"Catch an exception: " << e.
getMessage() << std::endl;
247 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
248 if (display !=
nullptr) {
258 std::cout <<
"There are missing 3rd parties to run this tutorial" << std::endl;
Firewire cameras video capture based on CMU 1394 Digital Camera SDK.
void open(vpImage< unsigned char > &I)
Class for firewire ieee1394 video devices using libdc1394-2.x api.
void open(vpImage< unsigned char > &I)
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 none
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
void open(vpImage< unsigned char > &I)
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
static double deg(double rad)
Class that defines a 3D point in the object frame and allows forward projection of a 3D point in the ...
Implementation of a pose vector and operations on poses.
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
void acquire(vpImage< unsigned char > &grey, double *ts=nullptr)
bool open(const rs2::config &cfg=rs2::config())
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)
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()