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/*! \example tutorial-pose-from-points-live.cpp */
#include <iostream>
#include <visp3/core/vpConfig.h>
//! [Undef grabber]
// Comment / uncomment following lines to use the specific 3rd party compatible with your camera
// #undef VISP_HAVE_V4L2
// #undef VISP_HAVE_DC1394
// #undef VISP_HAVE_CMU1394
// #undef VISP_HAVE_FLYCAPTURE
// #undef VISP_HAVE_REALSENSE2
// #undef HAVE_OPENCV_HIGHGUI
// #undef HAVE_OPENCV_VIDEOIO
//! [Undef grabber]
#if defined(VISP_HAVE_DISPLAY) && defined(VISP_HAVE_PUGIXML) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)) || defined(VISP_HAVE_OPENCV) && \
(((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)) || \
((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)))
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/core/vpXmlParserCamera.h>
#include <visp3/gui/vpDisplayFactory.h>
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI)
#include <opencv2/highgui/highgui.hpp> // for cv::VideoCapture
#elif defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO)
#include <opencv2/videoio/videoio.hpp> // for cv::VideoCapture
#endif
#include "pose_helper.h"
void usage(const char **argv, int error)
{
std::cout << "Synopsis" << std::endl
<< " " << argv[0]
<< " [--camera-device <id>]"
#if defined(VISP_HAVE_PUGIXML)
<< " [--intrinsic <xmlfile>]"
<< " [--camera-name <name>]"
#endif
<< " [--square-width <width>]"
<< " [--help, -h]" << std::endl
<< std::endl;
std::cout << "Description" << std::endl
<< " Compute the pose of a square from its 4 corners." << std::endl
<< std::endl
<< " --camera-device <id>" << std::endl
<< " Camera device id." << std::endl
<< " Default: 0" << std::endl
<< std::endl
#if defined(VISP_HAVE_PUGIXML)
<< " --intrinsic <xmlfile>" << std::endl
<< " Camera intrinsic parameters file in xml format." << std::endl
<< " Default: empty" << std::endl
<< std::endl
<< " --camera-name <name>" << std::endl
<< " Camera name in the intrinsic parameters file in xml format." << std::endl
<< " Default: empty" << std::endl
<< std::endl
#endif
<< " --square-width <width>" << std::endl
<< " Square width in meter." << std::endl
<< " Default: 0.12" << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Print this helper message." << std::endl
<< std::endl;
std::cout
<< std::endl
<< "Example using default camera parameters and square size:\n"
<< " " << argv[0] << "\n"
<< std::endl
<< "Example fully tuned for a 0.1m x 0.1m square:\n"
<< " " << argv[0] << " --intrinsic camera.xml --camera-name Camera --square-width 0.1\n"
<< std::endl;
if (error) {
std::cout << "Error" << std::endl
<< " "
<< "Unsupported parameter " << argv[error] << std::endl;
}
}
int main(int argc, const char **argv)
{
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
std::shared_ptr<vpDisplay> display;
#else
vpDisplay *display = nullptr;
#endif
try {
std::string opt_intrinsic_file; // xml file obtained from camera calibration
std::string opt_camera_name; // corresponding camera name in the xml calibration file
double opt_square_width = 0.12;
int opt_device = 0; // For OpenCV and V4l2 grabber to set the camera device
for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--camera-device" && i + 1 < argc) {
opt_device = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--intrinsic" && i + 1 < argc) {
opt_intrinsic_file = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--camera-name" && i + 1 < argc) {
opt_camera_name = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--square-width" && i + 1 < argc) {
opt_device = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
usage(argv, 0);
return EXIT_SUCCESS;
}
else {
usage(argv, i);
return EXIT_FAILURE;
}
}
vpImage<unsigned char> I;
vpCameraParameters cam;
//! [Grabber]
#if defined(VISP_HAVE_V4L2)
vpV4l2Grabber g;
std::ostringstream device;
device << "/dev/video" << opt_device;
std::cout << "Use Video 4 Linux grabber on device " << device.str() << std::endl;
g.setDevice(device.str());
g.setScale(1);
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_DC1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use DC1394 grabber" << std::endl;
vp1394TwoGrabber g;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_CMU1394)
(void)opt_device; // To avoid non used warning
std::cout << "Use CMU1394 grabber" << std::endl;
vp1394CMUGrabber g;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_FLYCAPTURE)
(void)opt_device; // To avoid non used warning
std::cout << "Use FlyCapture grabber" << std::endl;
vpFlyCaptureGrabber g;
g.open(I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#elif defined(VISP_HAVE_REALSENSE2)
(void)opt_device; // To avoid non used warning
std::cout << "Use Realsense 2 grabber" << std::endl;
vpRealSense2 g;
rs2::config config;
config.disable_stream(RS2_STREAM_DEPTH);
config.disable_stream(RS2_STREAM_INFRARED);
config.enable_stream(RS2_STREAM_COLOR, 640, 480, RS2_FORMAT_RGBA8, 30);
g.open(config);
g.acquire(I);
std::cout << "Read camera parameters from Realsense device" << std::endl;
cam = g.getCameraParameters(RS2_STREAM_COLOR, vpCameraParameters::perspectiveProjWithoutDistortion);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;
cv::VideoCapture g(opt_device); // Open the default camera
if (!g.isOpened()) { // Check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
g >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
cam.initPersProjWithoutDistortion(840, 840, I.getWidth() / 2, I.getHeight() / 2); // Default parameters
#endif
//! [Grabber]
#if defined(VISP_HAVE_PUGIXML)
// Parameters of our camera
vpXmlParserCamera parser;
if (!opt_intrinsic_file.empty() && !opt_camera_name.empty()) {
std::cout << "Intrinsic file: " << opt_intrinsic_file << std::endl;
std::cout << "Camera name : " << opt_camera_name << std::endl;
if (parser.parse(cam, opt_intrinsic_file, opt_camera_name, vpCameraParameters::perspectiveProjWithDistortion) ==
vpXmlParserCamera::SEQUENCE_OK) {
std::cout << "Succeed to read camera parameters from xml file" << std::endl;
}
else {
std::cout << "Unable to read camera parameters from xml file" << std::endl;
}
}
#endif
std::cout << "Square width : " << opt_square_width << std::endl;
std::cout << cam << std::endl;
// The pose container
vpHomogeneousMatrix cMo;
std::vector<vpDot2> dot(4);
std::vector<vpPoint> point; // 3D coordinates of the points
std::vector<vpImagePoint> ip; // 2D coordinates of the points in pixels
double L = opt_square_width / 2.;
point.push_back(vpPoint(-L, -L, 0));
point.push_back(vpPoint(L, -L, 0));
point.push_back(vpPoint(L, L, 0));
point.push_back(vpPoint(-L, L, 0));
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
display = vpDisplayFactory::createDisplay(I);
#else
display = vpDisplayFactory::allocateDisplay(I);
#endif
bool quit = false;
bool apply_cv = false; // apply computer vision
bool init_cv = true; // initialize tracking and pose computation
while (!quit) {
double t_begin = vpTime::measureTimeMs();
// Image Acquisition
#if defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || \
defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2)
g.acquire(I);
#elif ((VISP_HAVE_OPENCV_VERSION < 0x030000) && defined(HAVE_OPENCV_HIGHGUI))|| ((VISP_HAVE_OPENCV_VERSION >= 0x030000) && defined(HAVE_OPENCV_VIDEOIO))
g >> frame;
vpImageConvert::convert(frame, I);
#endif
vpDisplay::display(I);
if (apply_cv) {
try {
ip = track(I, dot, init_cv);
computePose(point, ip, cam, init_cv, cMo);
vpDisplay::displayFrame(I, cMo, cam, opt_square_width, vpColor::none, 3);
if (init_cv)
init_cv = false; // turn off the computer vision initialisation specific stuff
{ // Display estimated pose in [m] and [deg]
vpPoseVector pose(cMo);
std::stringstream ss;
ss << "Translation: " << std::setprecision(5) << pose[0] << " " << pose[1] << " " << pose[2] << " [m]";
vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
ss.str(""); // erase ss
ss << "Rotation tu: " << std::setprecision(4) << vpMath::deg(pose[3]) << " " << vpMath::deg(pose[4]) << " "
<< vpMath::deg(pose[5]) << " [deg]";
vpDisplay::displayText(I, 80, 20, ss.str(), vpColor::red);
}
}
catch (...) {
std::cout << "Computer vision failure." << std::endl;
apply_cv = false;
init_cv = true;
}
}
vpDisplay::displayText(I, 20, 20, "Right click: quit", vpColor::red);
if (apply_cv) {
vpDisplay::displayText(I, 40, 20, "Computer vision in progress...", vpColor::red);
}
else {
vpDisplay::displayText(I, 40, 20, "Left click : start", vpColor::red);
}
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(I, button, false)) {
if (button == vpMouseButton::button3) {
quit = true;
}
else if (button == vpMouseButton::button1) {
apply_cv = true;
}
}
{
std::stringstream ss;
ss << "Time: " << vpTime::measureTimeMs() - t_begin << " ms";
vpDisplay::displayText(I, 20, I.getWidth() - 100, ss.str(), vpColor::red);
}
vpDisplay::flush(I);
}
}
catch (const vpException &e) {
std::cout << "Catch an exception: " << e.getMessage() << std::endl;
}
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
if (display != nullptr) {
delete display;
}
#endif
}
#else
int main()
{
std::cout << "There are missing 3rd parties to run this tutorial" << std::endl;
}
#endif
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