VS配置VISP（常见方式）
先安装好VISP
Windows系统基于VS编译器编译获得VISP动态库
配置VISP之前需要先配置OpenCV：
64位OpenCV库生成32位库并配置环境变量
命令行的方法见：
Windows下创建基于VS的VISP工程详细步骤（命令行方式）
添加环境变量：
上面的第一篇中有说到：
VS添加链接
添加包含目录：
添加库目录：
下面添加附加依赖项（按照需要添加）：
这是所有的库的名字（直接复制进去就行）：
visp_ar341d.lib
visp_blob341d.lib
visp_core341d.lib
visp_detection341d.lib
visp_gui341d.lib
visp_imgproc341d
visp_io341d.lib
visp_klt341d.lib
visp_mbt341d.lib
visp_me341d.lib
visp_robot341d.lib
visp_sensor341d.lib
visp_tt_mi341d.lib
visp_tt341d.lib
visp_vision341d.lib
visp_visual_features341d.lib
visp_vs341d.lib
现在就配置好了，重开或者电脑重启再用示例检查是否完成。
我用的是下面的例程。 不过是OpenCV和VISP都配置好之后才能用，完成配置，可以再看上面例程。
（直接创建VS空项目运行就行，但是我还没有真正把内容全部看完改完，不知道运行是什么结果。）
（而且这个是用来识别AprilTag码的，需要再仔细看完后面的内容再尝试。）
#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 >= 0x00) || \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;}
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