ViSP中识别AprilTag的C++实例代码解释

VISP中识别AprilTag的C++实例代码解释

接着上一篇：
VISP中识别AprilTag的C++实例代码与运行结果

先展示代码，一句一句解释吧

#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/core/vpXmlParserCamera.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";vpDetectorAprilTag::vpAprilTagFamily tagFamily = vpDetectorAprilTag::TAG_36h11;vpDetectorAprilTag::vpPoseEstimationMethod poseEstimationMethod = vpDetectorAprilTag::HOMOGRAPHY_VIRTUAL_VS;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;}}vpCameraParameters cam;cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);vpXmlParserCamera parser;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<unsigned char> I;vpImageIo::read(I, input_filename);#ifdef VISP_HAVE_X11vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)vpDisplayGDI d(I);
#elif defined(VISP_HAVE_OPENCV)vpDisplayOpenCV d(I);
#endifvpDetectorAprilTag 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);vpDisplay::display(I);double t = vpTime::measureTimeMs();std::vector<vpHomogeneousMatrix> cMo_vec;detector.detect(I, tagSize, cam, cMo_vec);t = vpTime::measureTimeMs() - t;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);vpDisplay::displayRectangle(I, bbox, vpColor::green);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++) {vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);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);vpDisplay::flush(I);vpDisplay::getClick(I);vpDisplay::display(I);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);vpDisplay::flush(I);vpDisplay::getClick(I);} catch (const vpException &e) {std::cerr << "Catch an exception: " << e.getMessage() << std::endl;}return EXIT_SUCCESS;
#else(void)argc;(void)argv;return 0;
#endif
}

首先是vpDetectorAprilTag类的头文件

#include <visp3/detection/vpDetectorAprilTag.h>

下面的main()函数第一句是检测VISP是否已经配置好了第三方库

#if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))

读入图片之后

vpDetectorAprilTag detector(tagFamily);

下面的功能转换一下图片，加快处理速度

    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);

下面是为了识别3D姿态

    std::vector<vpHomogeneousMatrix> cMo_vec;detector.detect(I, tagSize, cam, cMo_vec);

下面获取每个标签的框的四个点

      std::vector<vpImagePoint> p = detector.getPolygon(i);vpRect bbox = detector.getBBox(i);

下面返回标签信息

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);}

下面把标签3D姿态转换为RGB框架

for (size_t i = 0; i < cMo_vec.size(); i++) {vpDisplay::displayFrame(I, cMo_vec[i], cam, tagSize / 2, vpColor::none, 3);}

Note

To get absolute pose (not relative to a scale factor), you have to provide the real size of the marker (length of a marker side).
需要指出真实大小

To calibrate your camera, you can follow this tutorial: Tutorial: Camera intrinsic calibration
需要标定

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ViSP中识别AprilTag的C++实例代码解释

VISP中识别AprilTag的C++实例代码解释

Note

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