Visual Servoing Platform version 3.5.0
tutorial-mb-tracker-full.cpp
1
2#include <visp3/core/vpIoTools.h>
3#include <visp3/gui/vpDisplayGDI.h>
4#include <visp3/gui/vpDisplayOpenCV.h>
5#include <visp3/gui/vpDisplayX.h>
6#include <visp3/io/vpImageIo.h>
8#include <visp3/mbt/vpMbEdgeKltTracker.h>
9#include <visp3/mbt/vpMbEdgeTracker.h>
11#include <visp3/io/vpVideoReader.h>
12
13int main(int argc, char **argv)
14{
15#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
16
17 try {
18 std::string opt_videoname = "teabox.mp4";
19 std::string opt_modelname = "teabox.cao";
20 int opt_tracker = 0;
21
22 for (int i = 0; i < argc; i++) {
23 if (std::string(argv[i]) == "--video")
24 opt_videoname = std::string(argv[i + 1]);
25 else if (std::string(argv[i]) == "--model")
26 opt_modelname = std::string(argv[i + 1]);
27 else if (std::string(argv[i]) == "--tracker")
28 opt_tracker = atoi(argv[i + 1]);
29 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
30 std::cout << "\nUsage: " << argv[0]
31 << " [--video <video name>] [--model <model name>] "
32 "[--tracker <0=egde|1=keypoint|2=hybrid>] [--help] [-h]\n"
33 << std::endl;
34 return 0;
35 }
36 }
37 std::string parentname = vpIoTools::getParent(opt_modelname);
38 std::string objectname = vpIoTools::getNameWE(opt_modelname);
39
40 if (!parentname.empty())
41 objectname = parentname + "/" + objectname;
42
43 std::cout << "Video name: " << opt_videoname << std::endl;
44 std::cout << "Tracker requested config files: " << objectname << ".[init,"
45 << "xml,"
46 << "cao or wrl]" << std::endl;
47 std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
48
56
58 g.setFileName(opt_videoname);
59 g.open(I);
60
61 vpDisplay *display = NULL;
62#if defined(VISP_HAVE_X11)
63 display = new vpDisplayX;
64#elif defined(VISP_HAVE_GDI)
65 display = new vpDisplayGDI;
66#else
67 display = new vpDisplayOpenCV;
68#endif
69 display->init(I, 100, 100, "Model-based tracker");
70
72 vpMbTracker *tracker;
73 if (opt_tracker == 0)
74 tracker = new vpMbEdgeTracker;
75#ifdef VISP_HAVE_MODULE_KLT
76 else if (opt_tracker == 1)
77 tracker = new vpMbKltTracker;
78 else
79 tracker = new vpMbEdgeKltTracker;
80#else
81 else {
82 std::cout << "klt and hybrid model-based tracker are not available "
83 "since visp_klt module is missing"
84 << std::endl;
85 return 0;
86 }
87#endif
89
90 bool usexml = false;
92 if (vpIoTools::checkFilename(objectname + ".xml")) {
93 tracker->loadConfigFile(objectname + ".xml");
94 usexml = true;
95 }
97
98 if (!usexml) {
100 if (opt_tracker == 0 || opt_tracker == 2) {
102 vpMe me;
103 me.setMaskSize(5);
104 me.setMaskNumber(180);
105 me.setRange(8);
106 me.setThreshold(10000);
107 me.setMu1(0.5);
108 me.setMu2(0.5);
109 me.setSampleStep(4);
110 dynamic_cast<vpMbEdgeTracker *>(tracker)->setMovingEdge(me);
112 }
113
114#ifdef VISP_HAVE_MODULE_KLT
115 if (opt_tracker == 1 || opt_tracker == 2) {
117 vpKltOpencv klt_settings;
118 klt_settings.setMaxFeatures(300);
119 klt_settings.setWindowSize(5);
120 klt_settings.setQuality(0.015);
121 klt_settings.setMinDistance(8);
122 klt_settings.setHarrisFreeParameter(0.01);
123 klt_settings.setBlockSize(3);
124 klt_settings.setPyramidLevels(3);
125 dynamic_cast<vpMbKltTracker *>(tracker)->setKltOpencv(klt_settings);
126 dynamic_cast<vpMbKltTracker *>(tracker)->setKltMaskBorder(5);
128 }
129#endif
130
132 cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
133 tracker->setCameraParameters(cam);
135
137 tracker->setAngleAppear(vpMath::rad(70));
138 tracker->setAngleDisappear(vpMath::rad(80));
141 tracker->setNearClippingDistance(0.1);
142 tracker->setFarClippingDistance(100.0);
148 }
151 tracker->setOgreVisibilityTest(false);
152 tracker->setOgreShowConfigDialog(false);
155 tracker->setScanLineVisibilityTest(true);
158
160 if (vpIoTools::checkFilename(objectname + ".cao"))
161 tracker->loadModel(objectname + ".cao");
164 else if (vpIoTools::checkFilename(objectname + ".wrl"))
165 tracker->loadModel(objectname + ".wrl");
168 tracker->setDisplayFeatures(true);
171 tracker->initClick(I, objectname + ".init", true);
173
174 while (!g.end()) {
175 g.acquire(I);
178 tracker->track(I);
181 tracker->getPose(cMo);
184 tracker->getCameraParameters(cam);
185 tracker->display(I, cMo, cam, vpColor::red, 2);
187 vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
188 vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
190
191 if (vpDisplay::getClick(I, false))
192 break;
193 }
196 delete display;
197 delete tracker;
199 } catch (const vpException &e) {
200 std::cout << "Catch a ViSP exception: " << e << std::endl;
201 }
202#ifdef VISP_HAVE_OGRE
203 catch (Ogre::Exception &e) {
204 std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
205 }
206#endif
207#else
208 (void)argc;
209 (void)argv;
210 std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
211#endif
212}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor red
Definition: vpColor.h:217
static const vpColor none
Definition: vpColor.h:229
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0))
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:802
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1532
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1606
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
Definition: vpMath.h:110
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
Make the complete tracking of an object by using its CAD model.
Model based tracker using only KLT.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
virtual void track(const vpImage< unsigned char > &I)=0
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:643
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:248
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:517
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:414
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:487
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:480
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
virtual void setOgreVisibilityTest(const bool &v)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:469
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
Definition: vpMe.h:61
void setMu1(const double &mu_1)
Definition: vpMe.h:241
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
void setMu2(const double &mu_2)
Definition: vpMe.h:248
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
void setThreshold(const double &t)
Definition: vpMe.h:300
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)