Visual Servoing Platform version 3.6.0
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tutorial-apriltag-detector.cpp

[Include]

#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
int main(int argc, const char **argv)
{
#if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
std::string input_filename = "AprilTag.pgm";
double tagSize = 0.053;
float quad_decimate = 1.0;
int nThreads = 1;
std::string intrinsic_file = "";
std::string camera_name = "";
bool display_tag = false;
int color_id = -1;
unsigned int thickness = 2;
bool z_aligned = false;
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--input" && i + 1 < argc) {
input_filename = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--quad_decimate" && i + 1 < argc) {
quad_decimate = (float)atof(argv[i + 1]);
} else if (std::string(argv[i]) == "--nthreads" && i + 1 < argc) {
nThreads = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
intrinsic_file = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--camera_name" && i + 1 < argc) {
camera_name = std::string(argv[i + 1]);
} else if (std::string(argv[i]) == "--display_tag") {
display_tag = true;
} else if (std::string(argv[i]) == "--color" && i + 1 < argc) {
color_id = atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--thickness" && i + 1 < argc) {
thickness = (unsigned int)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--z_aligned") {
z_aligned = true;
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--input <input file>] [--tag_size <tag_size in m>]"
" [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
" [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
" [--pose_method <method> (0: HOMOGRAPHY, 1: HOMOGRAPHY_VIRTUAL_VS, "
" 2: DEMENTHON_VIRTUAL_VS, 3: LAGRANGE_VIRTUAL_VS, "
" 4: BEST_RESIDUAL_VIRTUAL_VS, 5: HOMOGRAPHY_ORTHOGONAL_ITERATION) (default: 0)]"
" [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10 (DEPRECATED), 2: TAG_36ARTOOLKIT (DEPRECATED),"
" 3: TAG_25h9, 4: TAG_25h7 (DEPRECATED), 5: TAG_16h5, 6: TAG_CIRCLE21h7, 7: TAG_CIRCLE49h12,"
" 8: TAG_CUSTOM48h12, 9: TAG_STANDARD41h12, 10: TAG_STANDARD52h13) (default: 0)]"
" [--display_tag] [--color <color_id (0, 1, ...)>]"
" [--thickness <thickness>] [--z_aligned]"
" [--help]"
<< std::endl;
return EXIT_SUCCESS;
}
}
cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);
if (!intrinsic_file.empty() && !camera_name.empty())
parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
std::cout << cam << std::endl;
std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
std::cout << "nThreads : " << nThreads << std::endl;
std::cout << "Z aligned: " << z_aligned << std::endl;
try {
vpImage<vpRGBa> I_color;
vpImageIo::read(I_color, input_filename);
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
#elif defined(HAVE_OPENCV_HIGHGUI)
#endif
vpDetectorAprilTag detector(tagFamily);
detector.setAprilTagQuadDecimate(quad_decimate);
detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
detector.setAprilTagNbThreads(nThreads);
detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
detector.setZAlignedWithCameraAxis(z_aligned);
double t = vpTime::measureTimeMs();
std::vector<vpHomogeneousMatrix> cMo_vec;
detector.detect(I, tagSize, cam, cMo_vec);
std::stringstream ss;
ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
for (size_t i = 0; i < detector.getNbObjects(); i++) {
std::vector<vpImagePoint> p = detector.getPolygon(i);
vpRect bbox = detector.getBBox(i);
std::string message = detector.getMessage(i);
std::size_t tag_id_pos = message.find("id: ");
if (tag_id_pos != std::string::npos) {
int tag_id = atoi(message.substr(tag_id_pos + 4).c_str());
ss.str("");
ss << "Tag id: " << tag_id;
vpDisplay::displayText(I, (int)(bbox.getTop() - 10), (int)bbox.getLeft(), ss.str(), vpColor::red);
}
for (size_t j = 0; j < p.size(); j++) {
std::ostringstream number;
number << j;
vpDisplay::displayText(I, p[j] + vpImagePoint(15, 5), number.str(), vpColor::blue);
}
}
vpDisplay::displayText(I, 20, 20, "Click to display tag poses", vpColor::red);
for (size_t i = 0; i < cMo_vec.size(); i++) {
vpDisplay::displayFrame(I, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
}
vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
#ifdef VISP_HAVE_X11
vpDisplayX d2(I_color, 50, 50);
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d2(I_color, 50, 50);
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV d2(I_color, 50, 50);
#endif
// To test the displays on a vpRGBa image
// Display frames and tags but remove the display of the last element
std::vector<std::vector<vpImagePoint> > tagsCorners = detector.getTagsCorners();
tagsCorners.pop_back();
detector.displayTags(I_color, tagsCorners, vpColor::none, 3);
cMo_vec.pop_back();
detector.displayFrames(I_color, cMo_vec, cam, tagSize / 2, vpColor::none, 3);
vpDisplay::displayText(I_color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(I_color);
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
}
#else
(void)argc;
(void)argv;
#endif
return EXIT_SUCCESS;
}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
@ perspectiveProjWithoutDistortion
Perspective projection without distortion model.
static vpColor getColor(const unsigned int &i)
Definition vpColor.h:307
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
void setZAlignedWithCameraAxis(bool zAlignedWithCameraFrame)
std::vector< std::vector< vpImagePoint > > getTagsCorners() const
void setDisplayTag(bool display, const vpColor &color=vpColor::none, unsigned int thickness=2)
void setAprilTagQuadDecimate(float quadDecimate)
void displayFrames(const vpImage< unsigned char > &I, const std::vector< vpHomogeneousMatrix > &cMo_vec, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness=1) const
@ TAG_36h11
AprilTag 36h11 pattern (recommended)
void setAprilTagNbThreads(int nThreads)
bool detect(const vpImage< unsigned char > &I)
void setAprilTagPoseEstimationMethod(const vpPoseEstimationMethod &poseEstimationMethod)
void displayTags(const vpImage< unsigned char > &I, const std::vector< std::vector< vpImagePoint > > &tagsCorners, const vpColor &color=vpColor::none, unsigned int thickness=1) const
std::vector< std::vector< vpImagePoint > > & getPolygon()
vpRect getBBox(size_t i) const
std::vector< std::string > & getMessage()
size_t getNbObjects() const
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...
Definition vpDisplayX.h:132
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 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 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 emitted by ViSP classes.
Definition vpException.h:59
const char * getMessage() const
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition of the vpImage class member functions.
Definition vpImage.h:135
Defines a rectangle in the plane.
Definition vpRect.h:76
double getLeft() const
Definition vpRect.h:170
double getTop() const
Definition vpRect.h:189
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)
VISP_EXPORT double measureTimeMs()