Skip to content

Commit

Permalink
[FIX][TUTO] Fixed compilation of apriltag tutorial
Browse files Browse the repository at this point in the history
  • Loading branch information
rlagneau committed Jun 5, 2024
1 parent 186d0fa commit 0a1c681
Showing 1 changed file with 52 additions and 48 deletions.
100 changes: 52 additions & 48 deletions tutorial/detection/tag/tutorial-apriltag-detector.cpp
View file
Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
//! \example tutorial-apriltag-detector.cpp
#include <visp3/core/vpConfig.h>
//! [Include]
#include <visp3/detection/vpDetectorAprilTag.h>
//! [Include]
Expand All @@ -10,13 +11,16 @@

int main(int argc, const char **argv)
{
//! [Macro defined]
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
//! [Macro defined]
#if defined(VISP_HAVE_APRILTAG) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
//! [Macro defined]

std::string input_filename = "AprilTag.pgm";
visp::vpDetectorAprilTag::vpAprilTagFamily tagFamily = visp::vpDetectorAprilTag::TAG_36h11;
visp::vpDetectorAprilTag::vpPoseEstimationMethod poseEstimationMethod = visp::vpDetectorAprilTag::HOMOGRAPHY_VIRTUAL_VS;
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;
Expand All @@ -29,7 +33,7 @@ int main(int argc, const char **argv)

for (int i = 1; i < argc; i++) {
if (std::string(argv[i]) == "--pose_method" && i + 1 < argc) {
poseEstimationMethod = static_cast<visp::vpDetectorAprilTag::vpPoseEstimationMethod>(atoi(argv[i + 1]));
poseEstimationMethod = static_cast<vpDetectorAprilTag::vpPoseEstimationMethod>(atoi(argv[i + 1]));
}
else if (std::string(argv[i]) == "--tag_size" && i + 1 < argc) {
tagSize = atof(argv[i + 1]);
Expand Down Expand Up @@ -61,7 +65,7 @@ int main(int argc, const char **argv)
thickness = static_cast<unsigned int>(atoi(argv[i + 1]));
}
else if (std::string(argv[i]) == "--tag_family" && i + 1 < argc) {
tagFamily = static_cast<visp::vpDetectorAprilTag::vpAprilTagFamily>(atoi(argv[i + 1]));
tagFamily = static_cast<vpDetectorAprilTag::vpAprilTagFamily>(atoi(argv[i + 1]));
}
else if (std::string(argv[i]) == "--z_aligned") {
z_aligned = true;
Expand All @@ -85,12 +89,12 @@ int main(int argc, const char **argv)
}
}

visp::vpCameraParameters cam;
vpCameraParameters cam;
cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);
#if defined(VISP_HAVE_PUGIXML)
visp::vpXmlParserCamera parser;
vpXmlParserCamera parser;
if (!intrinsic_file.empty() && !camera_name.empty()) {
parser.parse(cam, intrinsic_file, camera_name, visp::vpCameraParameters::perspectiveProjWithoutDistortion);
parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
}
#endif

Expand All @@ -101,52 +105,52 @@ int main(int argc, const char **argv)
std::cout << "Z aligned: " << z_aligned << std::endl;

try {
visp::vpImage<visp::vpRGBa> I_color;
visp::vpImageIo::read(I_color, input_filename);
visp::vpImage<unsigned char> I;
visp::vpImageConvert::convert(I_color, I);
vpImage<vpRGBa> I_color;
vpImageIo::read(I_color, input_filename);
vpImage<unsigned char> I;
vpImageConvert::convert(I_color, I);

#ifdef VISP_HAVE_X11
visp::vpDisplayX d(I);
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
visp::vpDisplayGDI d(I);
vpDisplayGDI d(I);
#elif defined(HAVE_OPENCV_HIGHGUI)
visp::vpDisplayOpenCV d(I);
vpDisplayOpenCV d(I);
#endif

//! [Create AprilTag detector]
visp::vpDetectorAprilTag detector(tagFamily);
vpDetectorAprilTag detector(tagFamily);
//! [Create AprilTag detector]

//! [AprilTag detector settings]
detector.setAprilTagQuadDecimate(quad_decimate);
detector.setAprilTagPoseEstimationMethod(poseEstimationMethod);
detector.setAprilTagNbThreads(nThreads);
detector.setDisplayTag(display_tag, color_id < 0 ? visp::vpColor::none : visp::vpColor::getColor(color_id), thickness);
detector.setDisplayTag(display_tag, color_id < 0 ? vpColor::none : vpColor::getColor(color_id), thickness);
detector.setZAlignedWithCameraAxis(z_aligned);
//! [AprilTag detector settings]

visp::vpDisplay::display(I);
vpDisplay::display(I);

double t = visp::vpTime::measureTimeMs();
double t = vpTime::measureTimeMs();
//! [Detect and compute pose]
std::vector<visp::vpHomogeneousMatrix> cMo_vec;
std::vector<vpHomogeneousMatrix> cMo_vec;
detector.detect(I, tagSize, cam, cMo_vec);
//! [Detect and compute pose]
t = visp::vpTime::measureTimeMs() - t;
t = vpTime::measureTimeMs() - t;

std::stringstream ss;
ss << "Detection time: " << t << " ms for " << detector.getNbObjects() << " tags";
visp::vpDisplay::displayText(I, 40, 20, ss.str(), visp::vpColor::red);
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);

//! [Parse detected codes]
for (size_t i = 0; i < detector.getNbObjects(); i++) {
//! [Parse detected codes]
//! [Get location]
std::vector<visp::vpImagePoint> p = detector.getPolygon(i);
visp::vpRect bbox = detector.getBBox(i);
std::vector<vpImagePoint> p = detector.getPolygon(i);
vpRect bbox = detector.getBBox(i);
//! [Get location]
visp::vpDisplay::displayRectangle(I, bbox, visp::vpColor::green);
vpDisplay::displayRectangle(I, bbox, vpColor::green);
//! [Get message]
std::string message = detector.getMessage(i);
//! [Get message]
Expand All @@ -156,56 +160,56 @@ int main(int argc, const char **argv)
int tag_id = atoi(message.substr(tag_id_pos + 4).c_str());
ss.str("");
ss << "Tag id: " << tag_id;
visp::vpDisplay::displayText(I, static_cast<int>(bbox.getTop() - 10), static_cast<int>(bbox.getLeft()), ss.str(), visp::vpColor::red);
vpDisplay::displayText(I, static_cast<int>(bbox.getTop() - 10), static_cast<int>(bbox.getLeft()), ss.str(), vpColor::red);
}
//! [Get tag id]
for (size_t j = 0; j < p.size(); j++) {
visp::vpDisplay::displayCross(I, p[j], 14, visp::vpColor::red, 3);
vpDisplay::displayCross(I, p[j], 14, vpColor::red, 3);
std::ostringstream number;
number << j;
visp::vpDisplay::displayText(I, p[j] + visp::vpImagePoint(15, 5), number.str(), visp::vpColor::blue);
vpDisplay::displayText(I, p[j] + vpImagePoint(15, 5), number.str(), vpColor::blue);
}
}

visp::vpDisplay::displayText(I, 20, 20, "Click to display tag poses", visp::vpColor::red);
visp::vpDisplay::flush(I);
visp::vpDisplay::getClick(I);
vpDisplay::displayText(I, 20, 20, "Click to display tag poses", vpColor::red);
vpDisplay::flush(I);
vpDisplay::getClick(I);

visp::vpDisplay::display(I);
vpDisplay::display(I);

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

visp::vpDisplay::displayText(I, 20, 20, "Click to quit.", visp::vpColor::red);
visp::vpDisplay::flush(I);
visp::vpDisplay::getClick(I);
vpDisplay::displayText(I, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(I);
vpDisplay::getClick(I);

#ifdef VISP_HAVE_X11
visp::vpDisplayX d2(I_color, 50, 50);
vpDisplayX d2(I_color, 50, 50);
#elif defined(VISP_HAVE_GDI)
visp::vpDisplayGDI d2(I_color, 50, 50);
vpDisplayGDI d2(I_color, 50, 50);
#elif defined(HAVE_OPENCV_HIGHGUI)
visp::vpDisplayOpenCV d2(I_color, 50, 50);
vpDisplayOpenCV d2(I_color, 50, 50);
#endif
// To test the displays on a visp::vpRGBa image
visp::vpDisplay::display(I_color);
// To test the displays on a vpRGBa image
vpDisplay::display(I_color);

// Display frames and tags but remove the display of the last element
std::vector<std::vector<visp::vpImagePoint> > tagsCorners = detector.getTagsCorners();
std::vector<std::vector<vpImagePoint> > tagsCorners = detector.getTagsCorners();
tagsCorners.pop_back();
detector.displayTags(I_color, tagsCorners, visp::vpColor::none, 3);
detector.displayTags(I_color, tagsCorners, vpColor::none, 3);

cMo_vec.pop_back();
detector.displayFrames(I_color, cMo_vec, cam, tagSize / 2, visp::vpColor::none, 3);
detector.displayFrames(I_color, cMo_vec, cam, tagSize / 2, vpColor::none, 3);

visp::vpDisplay::displayText(I_color, 20, 20, "Click to quit.", visp::vpColor::red);
visp::vpDisplay::flush(I_color);
visp::vpDisplay::getClick(I_color);
vpDisplay::displayText(I_color, 20, 20, "Click to quit.", vpColor::red);
vpDisplay::flush(I_color);
vpDisplay::getClick(I_color);
}
catch (const visp::vpException &e) {
catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
}

Expand Down

0 comments on commit 0a1c681

Please sign in to comment.