ViSP中AprilTag的实时识别与定位

AprilTag实时识别与定位

在看完前面几篇介绍VISP的安装，编译，配置，AprilTag码的生成，识别等，见相关系列：

AprilTag专栏

下面是实时显示时进行识别AprilTag的cpp代码。

#include <visp3/core/vpConfig.h>
#ifdef VISP_HAVE_MODULE_SENSOR
#include <visp3/sensor/vpV4l2Grabber.h>
#include <visp3/sensor/vp1394CMUGrabber.h>
#include <visp3/sensor/vp1394TwoGrabber.h>
#include <visp3/sensor/vpFlyCaptureGrabber.h>
#include <visp3/sensor/vpRealSense2.h>
#endif
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/core/vpXmlParserCamera.h>//#undef VISP_HAVE_V4L2
//#undef VISP_HAVE_DC1394
//#undef VISP_HAVE_CMU1394
//#undef VISP_HAVE_FLYCAPTURE
//#undef VISP_HAVE_REALSENSE2
//#undef VISP_HAVE_OPENCVint main(int argc, const char **argv)
{#if defined(VISP_HAVE_APRILTAG) && \(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_DC1394) || defined(VISP_HAVE_CMU1394) || (VISP_HAVE_OPENCV_VERSION >= 0x020100) || \defined(VISP_HAVE_FLYCAPTURE) || defined(VISP_HAVE_REALSENSE2) )int opt_device = 0;             // For OpenCV and V4l2 grabber to set the camera devicevpDetectorAprilTag::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 align_frame = false;#if !(defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))bool display_off = true;std::cout << "Warning: There is no 3rd party (X11, GDI or openCV) to dislay images..." << std::endl;
#elsebool display_off = false;
#endifvpImage<unsigned char> I;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]) == "--camera_device" && i + 1 < argc) {opt_device = atoi(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]) == "--display_off") {display_off = 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") {align_frame = true;}else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {std::cout << "Usage: " << argv[0]<< " [--camera_device <camera device> (default: 0)]"<< " [--tag_size <tag_size in m> (default: 0.053)]"" [--quad_decimate <quad_decimate> (default: 1)]"" [--nthreads <nb> (default: 1)]"" [--intrinsic <intrinsic file> (default: empty)]"" [--camera_name <camera name>  (default: empty)]"" [--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] [--z_aligned]";
#if (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))std::cout << " [--display_off] [--color <color id>] [--thickness <line thickness>]";
#endifstd::cout << " [--help]" << std::endl;return EXIT_SUCCESS;}}try {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);#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);
#elif defined(VISP_HAVE_DC1394)(void)opt_device; // To avoid non used warningstd::cout << "Use DC1394 grabber" << std::endl;vp1394TwoGrabber g;g.open(I);
#elif defined(VISP_HAVE_CMU1394)(void)opt_device; // To avoid non used warningstd::cout << "Use CMU1394 grabber" << std::endl;vp1394CMUGrabber g;g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)(void)opt_device; // To avoid non used warningstd::cout << "Use FlyCapture grabber" << std::endl;vpFlyCaptureGrabber g;g.open(I);
#elif defined(VISP_HAVE_REALSENSE2)(void)opt_device; // To avoid non used warningstd::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 defined(VISP_HAVE_OPENCV)std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;cv::VideoCapture g(opt_device); // Open the default cameraif (!g.isOpened()) {            // Check if we succeededstd::cout << "Failed to open the camera" << std::endl;return -1;}cv::Mat frame;g >> frame; // get a new frame from cameravpImageConvert::convert(frame, I);
#endifstd::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: " << align_frame << std::endl;vpDisplay *d = NULL;if (! display_off) {#ifdef VISP_HAVE_X11d = new vpDisplayX(I);
#elif defined(VISP_HAVE_GDI)d = new vpDisplayGDI(I);
#elif defined(VISP_HAVE_OPENCV)d = new vpDisplayOpenCV(I);
#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(align_frame);std::vector<double> time_vec;for (;;) {#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 defined(VISP_HAVE_OPENCV)g >> frame;vpImageConvert::convert(frame, I);
#endifvpDisplay::display(I);double t = vpTime::measureTimeMs();std::vector<vpHomogeneousMatrix> cMo_vec;detector.detect(I, tagSize, cam, cMo_vec);t = vpTime::measureTimeMs() - t;time_vec.push_back(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 < 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);if (vpDisplay::getClick(I, false))break;}std::cout << "Benchmark computation time" << std::endl;std::cout << "Mean / Median / Std: " << vpMath::getMean(time_vec) << " ms"<< " ; " << vpMath::getMedian(time_vec) << " ms"<< " ; " << vpMath::getStdev(time_vec) << " ms" << std::endl;if (! display_off)delete d;} catch (const vpException &e) {std::cerr << "Catch an exception: " << e.getMessage() << std::endl;}return EXIT_SUCCESS;
#else(void)argc;(void)argv;
#ifndef VISP_HAVE_APRILTAGstd::cout << "Enable Apriltag support, configure and build ViSP to run this tutorial" << std::endl;
#elsestd::cout << "Install a 3rd party dedicated to frame grabbing (dc1394, cmu1394, v4l2, OpenCV, FlyCapture, Realsense2), configure and build ViSP again to use this example" << std::endl;
#endif
#endifreturn EXIT_SUCCESS;
}

这个例子和上面的类似

The usage of this example is similar to the previous one:

with option you select the kind of tag that you want to
detect.–tag_family
if more than one camera is connected to you computer, with option
you can select which camera to use. The first camera that is found
has number 0.–input

To detect 36h11 tags on images acquired by a second camera connected to your computer use:

$ ./tutorial-apriltag-detector-live --tag_family 0 --input 1

The source code of this example is very similar to the previous one except that here we use camera framegrabber devices (see Tutorial: Image frame grabbing).

这里用实时显示

Two different grabber may be used:
两种方法

If ViSP was built with Video For Linux (V4L2) support available for example on Fedora or Ubuntu distribution, VISP_HAVE_V4L2 macro is defined. In that case, images coming from an USB camera are acquired using vpV4l2Grabber class.
如果是UNIX系统，用这个类采集图像

If ViSP wasn’t built with V4L2 support but with OpenCV, we use cv::VideoCapture class to grab the images. Notice that when images are acquired with OpenCV there is an additional conversion from cv::Mat to vpImage.
如果是用OpenCV采集图像，那就还要做一个转换

#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);
#elif defined(VISP_HAVE_DC1394)(void)opt_device; // To avoid non used warningstd::cout << "Use DC1394 grabber" << std::endl;vp1394TwoGrabber g;g.open(I);
#elif defined(VISP_HAVE_CMU1394)(void)opt_device; // To avoid non used warningstd::cout << "Use CMU1394 grabber" << std::endl;vp1394CMUGrabber g;g.open(I);
#elif defined(VISP_HAVE_FLYCAPTURE)(void)opt_device; // To avoid non used warningstd::cout << "Use FlyCapture grabber" << std::endl;vpFlyCaptureGrabber g;g.open(I);
#elif defined(VISP_HAVE_REALSENSE2)(void)opt_device; // To avoid non used warningstd::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 defined(VISP_HAVE_OPENCV)std::cout << "Use OpenCV grabber on device " << opt_device << std::endl;cv::VideoCapture g(opt_device); // Open the default cameraif (!g.isOpened()) {            // Check if we succeededstd::cout << "Failed to open the camera" << std::endl;return -1;}cv::Mat frame;g >> frame; // get a new frame from cameravpImageConvert::convert(frame, I);
#endif

Then in the while loop, at each iteration we acquire a new image
在循环的时候，采集一副新图象

#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 defined(VISP_HAVE_OPENCV)g >> frame;vpImageConvert::convert(frame, I);
#endif

This new image is then given as input to the AprilTag detector.
图像之后又给这个变量

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