Visual Servoing Platform version 3.5.0
tutorial-apriltag-detector-live-rgbd-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
16int main(int argc, const char **argv)
17{
19#if defined(VISP_HAVE_APRILTAG) && defined(VISP_HAVE_REALSENSE2)
21
24 double tagSize = 0.053;
25 float quad_decimate = 1.0;
26 int nThreads = 1;
27 bool display_tag = false;
28 int color_id = -1;
29 unsigned int thickness = 2;
30 bool align_frame = false;
31
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;
35#else
36 bool display_off = false;
37#endif
38
39 for (int i = 1; i < argc; i++) {
40 if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
41 poseEstimationMethod = (vpDetectorAprilTag::vpPoseEstimationMethod)atoi(argv[i + 1]);
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") {
49 display_tag = true;
50 } else if (std::string(argv[i]) == "--display_off") {
51 display_off = true;
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) {
57 tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
58 } else if (std::string(argv[i]) == "--z_aligned") {
59 align_frame = true;
60 }
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>]";
75#endif
76 std::cout << " [--help]" << std::endl;
77 return EXIT_SUCCESS;
78 }
79 }
80
81 try {
83 std::cout << "Use Realsense 2 grabber" << std::endl;
85 rs2::config config;
86 unsigned int width = 640, height = 480;
87 config.enable_stream(RS2_STREAM_COLOR, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_RGBA8, 30);
88 config.enable_stream(RS2_STREAM_DEPTH, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_Z16, 30);
89 config.enable_stream(RS2_STREAM_INFRARED, static_cast<int>(width), static_cast<int>(height), RS2_FORMAT_Y8, 30);
90
92 vpImage<vpRGBa> I_color(height, width);
93 vpImage<uint16_t> I_depth_raw(height, width);
94 vpImage<vpRGBa> I_depth;
95
96 g.open(config);
97 const float depth_scale = g.getDepthScale();
98 std::cout << "I_color: " << I_color.getWidth() << " " << I_color.getHeight() << std::endl;
99 std::cout << "I_depth_raw: " << I_depth_raw.getWidth() << " " << I_depth_raw.getHeight() << std::endl;
100
101 rs2::align align_to_color = RS2_STREAM_COLOR;
102 g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
103 NULL, NULL, &align_to_color);
104
105 std::cout << "Read camera parameters from Realsense device" << std::endl;
109
110 std::cout << cam << std::endl;
111 std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
112 std::cout << "tagFamily: " << tagFamily << std::endl;
113 std::cout << "nThreads : " << nThreads << std::endl;
114 std::cout << "Z aligned: " << align_frame << std::endl;
115
116 vpImage<vpRGBa> I_color2 = I_color;
117 vpImage<float> depthMap;
118 vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
119
120 vpDisplay *d1 = NULL;
121 vpDisplay *d2 = NULL;
122 vpDisplay *d3 = NULL;
123 if (! display_off) {
124#ifdef VISP_HAVE_X11
125 d1 = new vpDisplayX(I_color, 100, 30, "Pose from Homography");
126 d2 = new vpDisplayX(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
127 d3 = new vpDisplayX(I_depth, 100, I_color.getHeight()+70, "Depth");
128#elif defined(VISP_HAVE_GDI)
129 d1 = new vpDisplayGDI(I_color, 100, 30, "Pose from Homography");
130 d2 = new vpDisplayGDI(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
131 d3 = new vpDisplayGDI(I_depth, 100, I_color.getHeight()+70, "Depth");
132#elif defined(VISP_HAVE_OPENCV)
133 d1 = new vpDisplayOpenCV(I_color, 100, 30, "Pose from Homography");
134 d2 = new vpDisplayOpenCV(I_color2, I_color.getWidth()+120, 30, "Pose from RGBD fusion");
135 d3 = new vpDisplayOpenCV(I_depth, 100, I_color.getHeight()+70, "Depth");
136#endif
137 }
138
140 vpDetectorAprilTag detector(tagFamily);
142
144 detector.setAprilTagQuadDecimate(quad_decimate);
145 detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
146 detector.setAprilTagNbThreads(nThreads);
147 detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
148 detector.setZAlignedWithCameraAxis(align_frame);
150 std::vector<double> time_vec;
151 for (;;) {
152 double t = vpTime::measureTimeMs();
153
155 g.acquire(reinterpret_cast<unsigned char *>(I_color.bitmap), reinterpret_cast<unsigned char *>(I_depth_raw.bitmap),
156 NULL, NULL, &align_to_color);
158
159 I_color2 = I_color;
160 vpImageConvert::convert(I_color, I);
161 vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
162
163 depthMap.resize(I_depth_raw.getHeight(), I_depth_raw.getWidth());
164 #ifdef VISP_HAVE_OPENMP
165 #pragma omp parallel for
166 #endif
167 for (int i = 0; i < static_cast<int>(I_depth_raw.getHeight()); i++) {
168 for (int j = 0; j < static_cast<int>(I_depth_raw.getWidth()); j++) {
169 if (I_depth_raw[i][j]) {
170 float Z = I_depth_raw[i][j] * depth_scale;
171 depthMap[i][j] = Z;
172 } else {
173 depthMap[i][j] = 0;
174 }
175 }
176 }
177
178 vpDisplay::display(I_color);
179 vpDisplay::display(I_color2);
180 vpDisplay::display(I_depth);
181
182 std::vector<vpHomogeneousMatrix> cMo_vec;
183 detector.detect(I, tagSize, cam, cMo_vec);
184
185 // Display camera pose for each tag
186 for (size_t i = 0; i < cMo_vec.size(); i++) {
187 vpDisplay::displayFrame(I_color, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);
188 }
189
191 std::vector<std::vector<vpImagePoint> > tags_corners = detector.getPolygon();
192 std::vector<int> tags_id = detector.getTagsId();
193 std::map<int, double> tags_size;
194 tags_size[-1] = tagSize; // Default tag size
195 std::vector<std::vector<vpPoint> > tags_points3d = detector.getTagsPoints3D(tags_id, tags_size);
196 for (size_t i = 0; i < tags_corners.size(); i++) {
198 double confidence_index;
199 if (vpPose::computePlanarObjectPoseFromRGBD(depthMap, tags_corners[i], cam, tags_points3d[i], cMo, &confidence_index)) {
200 if (confidence_index > 0.5) {
201 vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::none, 3);
202 }
203 else if (confidence_index > 0.25) {
204 vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::orange, 3);
205 }
206 else {
207 vpDisplay::displayFrame(I_color2, cMo, cam, tagSize/2, vpColor::red, 3);
208 }
209 std::stringstream ss;
210 ss << "Tag id " << tags_id[i] << " confidence: " << confidence_index;
211 vpDisplay::displayText(I_color2, 35 + i*15, 20, ss.str(), vpColor::red);
212 }
213 }
215
216 vpDisplay::displayText(I_color, 20, 20, "Pose from homography + VVS", vpColor::red);
217 vpDisplay::displayText(I_color2, 20, 20, "Pose from RGBD fusion", vpColor::red);
218 vpDisplay::displayText(I_color, 35, 20, "Click to quit.", vpColor::red);
219 t = vpTime::measureTimeMs() - t;
220 time_vec.push_back(t);
221
222 std::stringstream ss;
223 ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
224 vpDisplay::displayText(I_color, 50, 20, ss.str(), vpColor::red);
225
226 if (vpDisplay::getClick(I_color, false))
227 break;
228
229 vpDisplay::flush(I_color);
230 vpDisplay::flush(I_color2);
231 vpDisplay::flush(I_depth);
232 }
233
234 std::cout << "Benchmark loop processing time" << std::endl;
235 std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"
236 << " ; " << vpMath::getMedian(time_vec) << " ms"
237 << " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;
238
239 if (! display_off) {
240 delete d1;
241 delete d2;
242 delete d3;
243 }
244
245 } catch (const vpException &e) {
246 std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
247 }
248
249 return EXIT_SUCCESS;
250#else
251 (void)argc;
252 (void)argv;
253#ifndef VISP_HAVE_APRILTAG
254 std::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
255#else
256 std::cout << "Install librealsense 3rd party, configure and build ViSP again to use this example" << std::endl;
257#endif
258#endif
259 return EXIT_SUCCESS;
260}
Generic class defining intrinsic camera parameters.
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 orange
Definition: vpColor.h:227
@ 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 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.
Definition: vpException.h:72
const char * getMessage() const
Definition: vpException.cpp:90
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
Definition: vpImage.h:800
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
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)
Definition: vpPoseRGBD.cpp:254
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())
float getDepthScale()
VISP_EXPORT double measureTimeMs()