VISP视觉库中实现AprilTag的方法
作者：互联网
新接触到一个视觉库：Visual Servoing Platform
看情况这个库封装好了AprilTag识别部分
这是他们官网其中的一个例子
除了opencv和halcon又接触到一个视觉库，但是前面两个都还没搞清楚
VISP官网中AprilTag部分：
AprilTag
#include <visp3/detection/vpDetectorAprilTag.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#ifdef VISP_HAVE_XML2
#include <visp3/core/vpXmlParserCamera.h>
#endif
#ifdef VISP_HAVE_V4L2
#include <visp3/sensor/vpV4l2Grabber.h>
#endif
#include <visp3/io/vpImageIo.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)) && \
(defined(VISP_HAVE_V4L2) || defined(VISP_HAVE_OPENCV))
int opt_device = 0;
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;
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) {
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]) == "--tag_family" && i + 1 < argc) {
tagFamily = (vpDetectorAprilTag::vpAprilTagFamily)atoi(argv[i + 1]);
} else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "Usage: " << argv[0]
<< " [--input <camera input>] [--tag_size <tag_size in m>]"
" [--quad_decimate <quad_decimate>] [--nthreads <nb>]"
" [--intrinsic <intrinsic file>] [--camera_name <camera name>]"
" [--pose_method <method> (0: HOMOGRAPHY_VIRTUAL_VS, 1: "
"DEMENTHON_VIRTUAL_VS,"
" 2: LAGRANGE_VIRTUAL_VS, 3: BEST_RESIDUAL_VIRTUAL_VS)]"
" [--tag_family <family> (0: TAG_36h11, 1: TAG_36h10, 2: "
"TAG_36ARTOOLKIT,"
" 3: TAG_25h9, 4: TAG_25h7, 5: TAG_16h5)]"
" [--display_tag] [--help]"
<< std::endl;
return EXIT_SUCCESS;
}
}
vpCameraParameters cam;
cam.initPersProjWithoutDistortion(615.1674805, 615.1675415, 312.1889954, 243.4373779);
#ifdef VISP_HAVE_XML2
vpXmlParserCamera parser;
if (!intrinsic_file.empty() && !camera_name.empty())
parser.parse(cam, intrinsic_file, camera_name, vpCameraParameters::perspectiveProjWithoutDistortion);
#endif
std::cout << "cam:\n" << cam << std::endl;
std::cout << "poseEstimationMethod: " << poseEstimationMethod << std::endl;
std::cout << "tagFamily: " << tagFamily << std::endl;
try {
vpImage<unsigned char> I;
#if defined(VISP_HAVE_V4L2)
vpV4l2Grabber g;
std::ostringstream device;
device << "/dev/video" << opt_device;
g.setDevice(device.str());
g.setScale(1);
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
cv::VideoCapture cap(opt_device); // open the default camera
if (!cap.isOpened()) { // check if we succeeded
std::cout << "Failed to open the camera" << std::endl;
return EXIT_FAILURE;
}
cv::Mat frame;
cap >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
#ifdef VISP_HAVE_X11
vpDisplayX d(I);
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI d(I);
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV d(I);
#endif
vpDetectorBase *detector = new vpDetectorAprilTag(tagFamily);
dynamic_cast<vpDetectorAprilTag *>(detector)->setAprilTagQuadDecimate(quad_decimate);
dynamic_cast<vpDetectorAprilTag *>(detector)->setAprilTagPoseEstimationMethod(poseEstimationMethod);
dynamic_cast<vpDetectorAprilTag *>(detector)->setAprilTagNbThreads(nThreads);
dynamic_cast<vpDetectorAprilTag *>(detector)->setDisplayTag(display_tag);
std::vector<double> time_vec;
for (;;) {
#if defined(VISP_HAVE_V4L2)
g.acquire(I);
#elif defined(VISP_HAVE_OPENCV)
cap >> frame; // get a new frame from camera
vpImageConvert::convert(frame, I);
#endif
vpDisplay::display(I);
double t = vpTime::measureTimeMs();
std::vector<vpHomogeneousMatrix> cMo_vec;
dynamic_cast<vpDetectorAprilTag *>(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;
delete detector;
} catch (const vpException &e) {
std::cerr << "Catch an exception: " << e.getMessage() << std::endl;
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
return 0;
#endif
}
标签：std,VISP,AprilTag,string,--,argv,defined,库中 来源： https://blog.csdn.net/weixin_51229250/article/details/119254516