Visual Servoing Platform version 3.5.0
tutorial-apriltag-detector-live-T265-realsense.cpp
1
2#include <visp3/core/vpConfig.h>
3#ifdef VISP_HAVE_MODULE_SENSOR
4#include <visp3/sensor/vpRealSense2.h>
5#endif
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>
15#include <visp3/core/vpImageTools.h>
16#include <visp3/core/vpMeterPixelConversion.h>
17#include <visp3/core/vpPixelMeterConversion.h>
18
19int main(int argc, const char **argv)
20{
22 // Realsense T265 is only supported if realsense API > 2.31.0
23#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2) && (RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
25
28 double tagSize = 0.053;
29 float quad_decimate = 1.0;
30 int nThreads = 1;
31 bool display_tag = false;
32 int color_id = -1;
33 unsigned int thickness = 2;
34 bool align_frame = false;
35
36#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
37 bool display_off = true;
38 std::cout << "Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
39#else
40 bool display_off = false;
41#endif
42
43 for (int i = 1; i < argc; i++) {
44 if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
45 poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
46 } else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
47 tagSize = atof(argv[i + 1]);
48 } else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
49 quad_decimate = (float)atof(argv[i + 1]);
50 } else if (std::string(argv[i]) == "--nthreads" && i + 1 < argc) {
51 nThreads = atoi(argv[i + 1]);
52 } else if (std::string(argv[i]) == "--display_tag") {
53 display_tag = true;
54 } else if (std::string(argv[i]) == "--display_off") {
55 display_off = true;
56 } else if (std::string(argv[i]) == "--color" && i + 1 < argc) {
57 color_id = atoi(argv[i+1]);
58 } else if (std::string(argv[i]) == "--thickness" && i + 1 < argc) {
59 thickness = (unsigned int) atoi(argv[i+1]);
60 } else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
61 tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
62 } else if (std::string(argv[i]) == "--z_aligned") {
63 align_frame = true;
64 }
65 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
66 std::cout << "Usage: " << argv[0]
67 << " [--tag_size <tag_size in m> (default: 0.053)]"
68 " [--quad_decimate <quad_decimate> (default: 1)]"
69 " [--nthreads <nb> (default: 1)]"
70 " [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
71 " 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
72 " 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
73 " [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
74 " 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
75 " 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
76 " [--display_tag] [--z_aligned]";
77#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
78 std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
79#endif
80 std::cout << " [--help]" << std::endl;
81 return EXIT_SUCCESS;
82 }
83 }
84
85 try {
87 std::cout << "Use Realsense 2 grabber" << std::endl;
89 rs2::config config;
90 unsigned int width = 848, height = 800;
91 config.disable_stream(RS2_STREAM_FISHEYE,1);
92 config.disable_stream(RS2_STREAM_FISHEYE,2);
93 config.enable_stream(RS2_STREAM_FISHEYE,1,RS2_FORMAT_Y8);
94 config.enable_stream(RS2_STREAM_FISHEYE,2,RS2_FORMAT_Y8);
95
96 vpImage<unsigned char> I_left(height, width);
97 vpImage<unsigned char> I_undist(height, width);
98
99 g.open(config);
100 g.acquire(&I_left, NULL, NULL);
101
102 std::cout << "Read camera parameters from Realsense device" << std::endl;
103 vpCameraParameters cam_left, cam_undistort;
105 cam_undistort.initPersProjWithoutDistortion(cam_left.get_px(), cam_left.get_py(), cam_left.get_u0(), cam_left.get_v0());
107
108 std::cout << cam_left << 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;
113
114 vpDisplay *display_left = NULL;
115 vpDisplay *display_undistort = NULL;
116 if (! display_off) {
117#ifdef VISP_HAVE_X11
118 display_left = new vpDisplayX(I_left, 100, 30, "Left image");
119 display_undistort = new vpDisplayX(I_undist, I_left.getWidth(), 30, "Undistorted image");
120#elif defined(VISP_HAVE_GDI)
121 display_left = new vpDisplayGDI(I_left, 100, 30, "Left image");
122#elif defined(VISP_HAVE_OPENCV)
123 display_left = new vpDisplayOpenCV(I_left, 100, 30, "Left image");
124#endif
125 }
126
128 vpArray2D<int> mapU, mapV;
129 vpArray2D<float> mapDu, mapDv;
130 vpImageTools::initUndistortMap(cam_left, I_left.getWidth(), I_left.getHeight(), mapU, mapV, mapDu, mapDv);
132
134 vpDetectorAprilTag detector(tagFamily);
136
138 detector.setAprilTagQuadDecimate(quad_decimate);
139 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
140 detector.setAprilTagNbThreads(nThreads);
141 detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
142 detector.setZAlignedWithCameraAxis(align_frame);
144
145 std::vector<double> time_vec;
146
147 std::vector<std::vector<vpImagePoint>> tag_corners;
148
149 for (;;) {
150 double t = vpTime::measureTimeMs();
151
153 g.acquire(&I_left, NULL, NULL);
154
156 vpImageTools::undistort(I_left, mapU, mapV, mapDu, mapDv, I_undist);
158
160 vpDisplay::display(I_left);
161 vpDisplay::display(I_undist);
163
165 std::vector<vpHomogeneousMatrix> cMo_vec, cMo_vec1;
166 detector.detect(I_undist, tagSize, cam_undistort, cMo_vec);
168
169 // Display tag corners, bounding box and pose
170 for (size_t i = 0; i < cMo_vec.size(); i++) {
171 tag_corners = detector.getTagsCorners();
172 for(size_t j = 0; j < 4; j++)
173 {
174 vpDisplay::displayCross(I_undist, tag_corners[i][j], 20, vpColor::green, 2);
175 }
176
177 vpDisplay::displayRectangle(I_undist, detector.getBBox(i), vpColor::yellow, false, 3);
178 vpDisplay::displayFrame(I_undist, cMo_vec[i], cam_undistort, tagSize / 2, vpColor::red, 3);
179 }
180
181 t = vpTime::measureTimeMs() - t;
182 time_vec.push_back(t);
183
184 std::stringstream ss;
185 ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
186 vpDisplay::displayText(I_left, 50, 20, ss.str(), vpColor::red);
187 vpDisplay::displayText(I_undist, 50, 20, ss.str(), vpColor::red);
188
189 if (vpDisplay::getClick(I_left, false) || vpDisplay::getClick(I_undist, false))
190 break;
191
192 vpDisplay::flush(I_left);
193 vpDisplay::flush(I_undist);
194 }
195
196 std::cout << "Benchmark loop processing time" << std::endl;
197 std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
198 << " ; " << vpMath::getMedian(time_vec) << " ms"
199 << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
200
201 if (! display_off) {
202 delete display_left;
203 delete display_undistort;
204 }
205
206 } catch (const vpException &e) {
207 std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
208 }
209
210 return EXIT_SUCCESS;
211#else
212 (void)argc;
213 (void)argv;
214#ifndef VISP_HAVE_APRILTAG
215 std::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
216#elif defined(VISP_HAVE_REALSENSE2) && !(RS2_API_VERSION > ((2 * 10000) + (31 * 100) + 0))
217 std::cout << "Realsense T265 device needs librealsense API > 2.31.0. ViSP is linked with librealsense API "
218 << RS2_API_VERSION_STR << ". You need to upgrade librealsense to use this example." << std::endl;
219#else
220 std::cout << "Install librealsense 3rd party, configure and build ViSP again to use this example." << std::endl;
221#endif
222#endif
223 return EXIT_SUCCESS;
224}
225
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:132
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static vpColor getColor(const unsigned int &i)
Definition: vpColor.h:310
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities 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 displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
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 displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
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.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:90
static void initUndistortMap(const vpCameraParameters &cam, unsigned int width, unsigned int height, vpArray2D< int > &mapU, vpArray2D< int > &mapV, vpArray2D< float > &mapDu, vpArray2D< float > &mapDv)
static void undistort(const vpImage< Type > &I, const vpCameraParameters &cam, vpImage< Type > &newI, unsigned int nThreads=2)
Definition: vpImageTools.h:645
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:261
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:291
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:241
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()