1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpRealSense2.h>
7 #include <visp3/detection/vpDetectorAprilTag.h>
9 #include <visp3/gui/vpDisplayGDI.h>
10 #include <visp3/gui/vpDisplayOpenCV.h>
11 #include <visp3/gui/vpDisplayX.h>
12 #include <visp3/core/vpXmlParserCamera.h>
13 #include <visp3/core/vpImageConvert.h>
14 #include <visp3/vision/vpPose.h>
16 int main(
int argc,
const char **argv)
19 #if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
24 double tagSize = 0.053;
25 float quad_decimate = 1.0;
27 bool display_tag =
false;
29 unsigned int thickness = 2;
30 bool align_frame =
false;
32 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
33 bool display_off =
true;
34 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
36 bool display_off =
false;
39 for (
int i = 1; i < argc; i++) {
40 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
42 }
else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
43 tagSize = atof(argv[i + 1]);
44 }
else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
45 quad_decimate = (float)atof(argv[i + 1]);
46 }
else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
47 nThreads = atoi(argv[i + 1]);
48 }
else if (std::string(argv[i]) ==
"--display_tag") {
50 }
else if (std::string(argv[i]) ==
"--display_off") {
52 }
else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
53 color_id = atoi(argv[i+1]);
54 }
else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
55 thickness = (
unsigned int) atoi(argv[i+1]);
56 }
else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
58 }
else if (std::string(argv[i]) ==
"--z_aligned") {
61 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
62 std::cout <<
"Usage: " << argv[0]
63 <<
" [--tag_size <tag_size in m> (default: 0.053)]"
64 " [--quad_decimate <quad_decimate> (default: 1)]"
65 " [--nthreads <nb> (default: 1)]"
66 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
67 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
68 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
69 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
70 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
71 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
72 " [--display_tag] [--z_aligned]";
73 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
74 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
76 std::cout <<
" [--help]" << std::endl;
83 std::cout <<
"Use Realsense 2 grabber" << std::endl;
86 unsigned int width = 640, height = 480;
87 config.disable_stream(RS2_STREAM_DEPTH);
88 config.disable_stream(RS2_STREAM_INFRARED);
89 config.enable_stream(RS2_STREAM_COLOR,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
90 config.enable_stream(RS2_STREAM_DEPTH,
static_cast<int>(width),
static_cast<int>(height), RS2_FORMAT_Z16, 30);
99 rs2::align align_to_color = RS2_STREAM_COLOR;
100 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap),
101 NULL, NULL, &align_to_color);
103 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
108 std::cout << cam << std::endl;
109 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
110 std::cout <<
"tagFamily: " << tagFamily << std::endl;
111 std::cout <<
"nThreads : " << nThreads << std::endl;
112 std::cout <<
"Z aligned: " << align_frame << std::endl;
123 d1 =
new vpDisplayX(I_color, 100, 30,
"Pose from Homography");
124 d2 =
new vpDisplayX(I_color2, I_color.getWidth()+120, 30,
"Pose from RGBD fusion");
125 d3 =
new vpDisplayX(I_depth, 100, I_color.getHeight()+70,
"Depth");
126 #elif defined(VISP_HAVE_GDI)
127 d1 =
new vpDisplayGDI(I_color, 100, 30,
"Pose from Homography");
128 d2 =
new vpDisplayGDI(I_color2, I_color.getWidth()+120, 30,
"Pose from RGBD fusion");
129 d3 =
new vpDisplayGDI(I_depth, 100, I_color.getHeight()+70,
"Depth");
130 #elif defined(VISP_HAVE_OPENCV)
132 d2 =
new vpDisplayOpenCV(I_color2, I_color.getWidth()+120, 30,
"Pose from RGBD fusion");
133 d3 =
new vpDisplayOpenCV(I_depth, 100, I_color.getHeight()+70,
"Depth");
142 detector.setAprilTagQuadDecimate(quad_decimate);
143 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
144 detector.setAprilTagNbThreads(nThreads);
146 detector.setZAlignedWithCameraAxis(align_frame);
149 std::vector<double> time_vec;
154 g.
acquire(
reinterpret_cast<unsigned char *
>(I_color.bitmap),
reinterpret_cast<unsigned char *
>(I_depth_raw.bitmap),
155 NULL, NULL, &align_to_color);
167 depthMap.
resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
168 for (
unsigned int i = 0; i < I_depth_raw.getHeight(); i++) {
169 for (
unsigned int j = 0; j < I_depth_raw.getWidth(); j++) {
170 if (I_depth_raw[i][j]) {
171 float Z = I_depth_raw[i][j] * depth_scale;
183 std::vector<vpHomogeneousMatrix> cMo_vec;
184 detector.detect(I, tagSize, cam, cMo_vec);
187 for (
size_t i = 0; i < cMo_vec.size(); i++) {
192 std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
193 std::vector<int> tags_id = detector.getTagsId();
194 std::map<int, double> tags_size;
195 tags_size[-1] = tagSize;
196 std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
197 for (
size_t i = 0; i < tags_corners.size(); i++) {
199 double confidence_index;
201 if (confidence_index > 0.5) {
204 else if (confidence_index > 0.25) {
210 std::stringstream ss;
211 ss <<
"Tag id " << tags_id[i] <<
" confidence: " << confidence_index;
221 time_vec.push_back(t);
223 std::stringstream ss;
224 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
235 std::cout <<
"Benchmark loop processing time" << std::endl;
236 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
247 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
254 #ifndef VISP_HAVE_APRILTAG
255 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
257 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;
Generic class defining intrinsic camera parameters.
@ perspectiveProjWithoutDistortion
static vpColor getColor(const unsigned int &i)
static const vpColor none
static const vpColor orange
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
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 functionnalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(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))
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
const char * getMessage() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
static double getMedian(const std::vector< double > &v)
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static double getMean(const std::vector< double > &v)
static bool computePlanarObjectPoseFromRGBD(const vpImage< float > &depthMap, const std::vector< vpImagePoint > &corners, const vpCameraParameters &colorIntrinsics, const std::vector< vpPoint > &point3d, vpHomogeneousMatrix &cMo, double *confidence_index=NULL)
void acquire(vpImage< unsigned char > &grey, double *ts=NULL)
vpCameraParameters getCameraParameters(const rs2_stream &stream, vpCameraParameters::vpCameraParametersProjType type=vpCameraParameters::perspectiveProjWithDistortion, int index=-1) const
bool open(const rs2::config &cfg=rs2::config())
VISP_EXPORT double measureTimeMs()