1 #include <visp3/core/vpConfig.h>
3 #ifdef VISP_HAVE_MODULE_SENSOR
4 #include <visp3/sensor/vpV4l2Grabber.h>
5 #include <visp3/sensor/vp1394CMUGrabber.h>
6 #include <visp3/sensor/vp1394TwoGrabber.h>
7 #include <visp3/sensor/vpFlyCaptureGrabber.h>
8 #include <visp3/sensor/vpRealSense2.h>
10 #include <visp3/detection/vpDetectorAprilTag.h>
13 #include <visp3/gui/vpDisplayGDI.h>
14 #include <visp3/gui/vpDisplayOpenCV.h>
15 #include <visp3/gui/vpDisplayX.h>
16 #include <visp3/core/vpXmlParserCamera.h>
27 int main(
int argc,
const char **argv)
30 #if defined(VISP_HAVE_APRILTAG) && \
31 (defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100) || \
32 defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) )
38 double tagSize = 0.053;
39 float quad_decimate = 1.0;
41 std::string intrinsic_file =
"";
42 std::string camera_name =
"";
43 bool display_tag =
false;
45 unsigned int thickness = 2;
47 #if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
48 bool display_off =
true;
49 std::cout <<
"Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
51 bool display_off =
false;
56 for (
int i = 1; i < argc; i++) {
57 if (std::string(argv[i]) ==
"--pose_method" && i + 1 < argc) {
59 }
else if (std::string(argv[i]) ==
"--tag_size" && i + 1 < argc) {
60 tagSize = atof(argv[i + 1]);
61 }
else if (std::string(argv[i]) ==
"--camera_device" && i + 1 < argc) {
62 opt_device = atoi(argv[i + 1]);
63 }
else if (std::string(argv[i]) ==
"--quad_decimate" && i + 1 < argc) {
64 quad_decimate = (float)atof(argv[i + 1]);
65 }
else if (std::string(argv[i]) ==
"--nthreads" && i + 1 < argc) {
66 nThreads = atoi(argv[i + 1]);
67 }
else if (std::string(argv[i]) ==
"--intrinsic" && i + 1 < argc) {
68 intrinsic_file = std::string(argv[i + 1]);
69 }
else if (std::string(argv[i]) ==
"--camera_name" && i + 1 < argc) {
70 camera_name = std::string(argv[i + 1]);
71 }
else if (std::string(argv[i]) ==
"--display_tag") {
73 }
else if (std::string(argv[i]) ==
"--display_off") {
75 }
else if (std::string(argv[i]) ==
"--color" && i + 1 < argc) {
76 color_id = atoi(argv[i+1]);
77 }
else if (std::string(argv[i]) ==
"--thickness" && i + 1 < argc) {
78 thickness = (
unsigned int) atoi(argv[i+1]);
79 }
else if (std::string(argv[i]) ==
"--tag_family" && i + 1 < argc) {
81 }
else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
82 std::cout <<
"Usage: " << argv[0]
83 <<
" [--camera_device <camera device> (default: 0)]"
84 <<
" [--tag_size <tag_size in m> (default: 0.053)]"
85 " [--quad_decimate <quad_decimate> (default: 1)]"
86 " [--nthreads <nb> (default: 1)]"
87 " [--intrinsic <intrinsic file> (default: empty)]"
88 " [--camera_name <camera name>] (default: empty)"
89 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
90 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
91 " 4: BEST_RESIDUAL_VIRTUAL_VS) (default: 0)]"
92 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: TAG_36ARTOOLKIT,"
93 " 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5) (default: 0)]"
95 #if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
96 std::cout <<
" [--display_off] [--color <color id>] [--thickness <line thickness>]";
98 std::cout <<
" [--help]" << std::endl;
106 #ifdef VISP_HAVE_XML2
108 if (!intrinsic_file.empty() && !camera_name.empty())
113 #if defined(VISP_HAVE_V4L2)
115 std::ostringstream device;
116 device <<
"/dev/video" << opt_device;
117 std::cout <<
"Use Video 4 Linux grabber on device " << device.str() << std::endl;
121 #elif defined(VISP_HAVE_DC1394)
123 std::cout <<
"Use DC1394 grabber" << std::endl;
126 #elif defined(VISP_HAVE_CMU1394)
128 std::cout <<
"Use CMU1394 grabber" << std::endl;
131 #elif defined(VISP_HAVE_FLYCAPTURE)
133 std::cout <<
"Use FlyCapture grabber" << std::endl;
136 #elif defined(VISP_HAVE_REALSENSE2)
138 std::cout <<
"Use Realsense 2 grabber" << std::endl;
141 config.disable_stream(RS2_STREAM_DEPTH);
142 config.disable_stream(RS2_STREAM_INFRARED);
143 config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
147 std::cout <<
"Read camera parameters from Realsense device" << std::endl;
149 #elif defined(VISP_HAVE_OPENCV)
150 std::cout <<
"Use OpenCV grabber on device " << opt_device << std::endl;
151 cv::VideoCapture g(opt_device);
153 std::cout <<
"Failed to open the camera" << std::endl;
162 std::cout <<
"cam:\n" << cam << std::endl;
163 std::cout <<
"poseEstimationMethod: " << poseEstimationMethod << std::endl;
164 std::cout <<
"tagFamily: " << tagFamily << std::endl;
170 #elif defined(VISP_HAVE_GDI)
172 #elif defined(VISP_HAVE_OPENCV)
182 detector.setAprilTagQuadDecimate(quad_decimate);
183 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
184 detector.setAprilTagNbThreads(nThreads);
188 std::vector<double> time_vec;
191 #if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
193 #elif defined(VISP_HAVE_OPENCV)
203 std::vector<vpHomogeneousMatrix> cMo_vec;
204 detector.detect(I, tagSize, cam, cMo_vec);
207 time_vec.push_back(t);
209 std::stringstream ss;
210 ss <<
"Detection time: " << t <<
" ms for " << detector.getNbObjects() <<
" tags";
214 for (
size_t i = 0; i < cMo_vec.size(); i++) {
225 std::cout <<
"Benchmark computation time" << std::endl;
226 std::cout <<
"Mean / Median / Std: " <<
vpMath::getMean(time_vec) <<
" ms"
234 std::cerr <<
"Catch an exception: " << e.
getMessage() << std::endl;
241 #ifndef VISP_HAVE_APRILTAG
242 std::cout <<
"Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
244 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;