Visual Servoing Platform version 3.5.0
testGenericTracker.cpp
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2 *
3 * ViSP, open source Visual Servoing Platform software.
4 * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5 *
6 * This software is free software; you can redistribute it and/or modify
7 * it under the terms of the GNU General Public License as published by
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9 * (at your option) any later version.
10 * See the file LICENSE.txt at the root directory of this source
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13 * For using ViSP with software that can not be combined with the GNU
14 * GPL, please contact Inria about acquiring a ViSP Professional
15 * Edition License.
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17 * See http://visp.inria.fr for more information.
18 *
19 * This software was developed at:
20 * Inria Rennes - Bretagne Atlantique
21 * Campus Universitaire de Beaulieu
22 * 35042 Rennes Cedex
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29 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30 *
31 * Description:
32 * Regression test for MBT.
33 *
34 *****************************************************************************/
35
42#include <cstdlib>
43#include <iostream>
44#include <visp3/core/vpConfig.h>
45
46#if defined(VISP_HAVE_MODULE_MBT) \
47 && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
48
49#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
50#include <type_traits>
51#endif
52
53#include <visp3/core/vpIoTools.h>
54#include <visp3/core/vpImageDraw.h>
55#include <visp3/core/vpFont.h>
56#include <visp3/io/vpParseArgv.h>
57#include <visp3/io/vpImageIo.h>
58#include <visp3/gui/vpDisplayX.h>
59#include <visp3/gui/vpDisplayGDI.h>
60#include <visp3/gui/vpDisplayOpenCV.h>
61#include <visp3/gui/vpDisplayD3D.h>
62#include <visp3/gui/vpDisplayGTK.h>
63#include <visp3/mbt/vpMbGenericTracker.h>
64
65#define GETOPTARGS "i:dsclt:e:DmCh"
66
67namespace
68{
69 void usage(const char *name, const char *badparam)
70 {
71 fprintf(stdout, "\n\
72 Regression test for vpGenericTracker.\n\
73 \n\
74 SYNOPSIS\n\
75 %s [-i <test image path>] [-c] [-d] [-s] [-h] [-l] \n\
76 [-t <tracker type>] [-e <last frame index>] [-D] [-m] [-C]\n", name);
77
78 fprintf(stdout, "\n\
79 OPTIONS: \n\
80 -i <input image path> \n\
81 Set image input path.\n\
82 These images come from ViSP-images-x.y.z.tar.gz available \n\
83 on the ViSP website.\n\
84 Setting the VISP_INPUT_IMAGE_PATH environment\n\
85 variable produces the same behavior than using\n\
86 this option.\n\
87 \n\
88 -d \n\
89 Turn off the display.\n\
90 \n\
91 -s \n\
92 If display is turn off, tracking results are saved in a video folder.\n\
93 \n\
94 -c\n\
95 Disable the mouse click. Useful to automate the \n\
96 execution of this program without human intervention.\n\
97 \n\
98 -t <tracker type>\n\
99 Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (both)>) for color sensor.\n\
100 \n\
101 -l\n\
102 Use the scanline for visibility tests.\n\
103 \n\
104 -e <last frame index>\n\
105 Specify the index of the last frame. Once reached, the tracking is stopped.\n\
106 \n\
107 -D \n\
108 Use depth.\n\
109 \n\
110 -m \n\
111 Set a tracking mask.\n\
112 \n\
113 -C \n\
114 Use color images.\n\
115 \n\
116 -h \n\
117 Print the help.\n\n");
118
119 if (badparam)
120 fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
121 }
122
123 bool getOptions(int argc, const char **argv, std::string &ipath, bool &click_allowed, bool &display, bool &save,
124 bool &useScanline, int &trackerType, int &lastFrame, bool &use_depth, bool &use_mask,
125 bool &use_color_image)
126 {
127 const char *optarg_;
128 int c;
129 while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
130
131 switch (c) {
132 case 'i':
133 ipath = optarg_;
134 break;
135 case 'c':
136 click_allowed = false;
137 break;
138 case 'd':
139 display = false;
140 break;
141 case 's':
142 save = true;
143 break;
144 case 'l':
145 useScanline = true;
146 break;
147 case 't':
148 trackerType = atoi(optarg_);
149 break;
150 case 'e':
151 lastFrame = atoi(optarg_);
152 break;
153 case 'D':
154 use_depth = true;
155 break;
156 case 'm':
157 use_mask = true;
158 break;
159 case 'C':
160 use_color_image = true;
161 break;
162 case 'h':
163 usage(argv[0], NULL);
164 return false;
165 break;
166
167 default:
168 usage(argv[0], optarg_);
169 return false;
170 break;
171 }
172 }
173
174 if ((c == 1) || (c == -1)) {
175 // standalone param or error
176 usage(argv[0], NULL);
177 std::cerr << "ERROR: " << std::endl;
178 std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
179 return false;
180 }
181
182 return true;
183 }
184
185 template <typename Type>
186 bool read_data(const std::string &input_directory, int cpt, const vpCameraParameters &cam_depth,
187 vpImage<Type> &I, vpImage<uint16_t> &I_depth,
188 std::vector<vpColVector> &pointcloud, vpHomogeneousMatrix &cMo)
189 {
190#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
191 static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
192 "Template function supports only unsigned char and vpRGBa images!");
193#endif
194 char buffer[256];
195 sprintf(buffer, std::string(input_directory + "/Images/Image_%04d.pgm").c_str(), cpt);
196 std::string image_filename = buffer;
197
198 sprintf(buffer, std::string(input_directory + "/Depth/Depth_%04d.bin").c_str(), cpt);
199 std::string depth_filename = buffer;
200
201 sprintf(buffer, std::string(input_directory + "/CameraPose/Camera_%03d.txt").c_str(), cpt);
202 std::string pose_filename = buffer;
203
204 if (!vpIoTools::checkFilename(image_filename) || !vpIoTools::checkFilename(depth_filename)
205 || !vpIoTools::checkFilename(pose_filename))
206 return false;
207
208 vpImageIo::read(I, image_filename);
209
210 unsigned int depth_width = 0, depth_height = 0;
211 std::ifstream file_depth(depth_filename.c_str(), std::ios::in | std::ios::binary);
212 if (!file_depth.is_open())
213 return false;
214
215 vpIoTools::readBinaryValueLE(file_depth, depth_height);
216 vpIoTools::readBinaryValueLE(file_depth, depth_width);
217 I_depth.resize(depth_height, depth_width);
218 pointcloud.resize(depth_height*depth_width);
219
220 const float depth_scale = 0.000030518f;
221 for (unsigned int i = 0; i < I_depth.getHeight(); i++) {
222 for (unsigned int j = 0; j < I_depth.getWidth(); j++) {
223 vpIoTools::readBinaryValueLE(file_depth, I_depth[i][j]);
224 double x = 0.0, y = 0.0, Z = I_depth[i][j] * depth_scale;
225 vpPixelMeterConversion::convertPoint(cam_depth, j, i, x, y);
226 vpColVector pt3d(4, 1.0);
227 pt3d[0] = x*Z;
228 pt3d[1] = y*Z;
229 pt3d[2] = Z;
230 pointcloud[i*I_depth.getWidth()+j] = pt3d;
231 }
232 }
233
234 std::ifstream file_pose(pose_filename.c_str());
235 if (!file_pose.is_open()) {
236 return false;
237 }
238
239 for (unsigned int i = 0; i < 4; i++) {
240 for (unsigned int j = 0; j < 4; j++) {
241 file_pose >> cMo[i][j];
242 }
243 }
244
245 return true;
246 }
247
248 void convert(const vpImage<vpRGBa> &src, vpImage<vpRGBa> &dst)
249 {
250 dst = src;
251 }
252
253 void convert(const vpImage<unsigned char> &src, vpImage<vpRGBa> &dst)
254 {
255 vpImageConvert::convert(src, dst);
256 }
257
258 template <typename Type>
259 bool run(const std::string &input_directory,
260 bool opt_click_allowed, bool opt_display, bool useScanline, int trackerType_image,
261 int opt_lastFrame, bool use_depth, bool use_mask, bool save) {
262#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
263 static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
264 "Template function supports only unsigned char and vpRGBa images!");
265#endif
266 // Initialise a display
267#if defined VISP_HAVE_X11
268 vpDisplayX display1, display2;
269#elif defined VISP_HAVE_GDI
270 vpDisplayGDI display1, display2;
271#elif defined VISP_HAVE_OPENCV
272 vpDisplayOpenCV display1, display2;
273#elif defined VISP_HAVE_D3D9
274 vpDisplayD3D display1, display2;
275#elif defined VISP_HAVE_GTK
276 vpDisplayGTK display1, display2;
277#else
278 opt_display = false;
279#endif
280
281 std::vector<int> tracker_type(2);
282 tracker_type[0] = trackerType_image;
284 vpMbGenericTracker tracker(tracker_type);
285 std::string configFileCam1 = input_directory + std::string("/Config/chateau.xml");
286 std::string configFileCam2 = input_directory + std::string("/Config/chateau_depth.xml");
287 std::cout << "Load config file for camera 1: " << configFileCam1 << std::endl;
288 std::cout << "Load config file for camera 2: " << configFileCam2 << std::endl;
289 tracker.loadConfigFile(configFileCam1, configFileCam2);
290#if 0
291 // Corresponding parameters manually set to have an example code
292 {
293 vpCameraParameters cam_color, cam_depth;
294 cam_color.initPersProjWithoutDistortion(700.0, 700.0, 320.0, 240.0);
295 cam_depth.initPersProjWithoutDistortion(700.0, 700.0, 320.0, 240.0);
296 tracker.setCameraParameters(cam_color, cam_depth);
297 }
298
299 // Edge
300 vpMe me;
301 me.setMaskSize(5);
302 me.setMaskNumber(180);
303 me.setRange(8);
304 me.setThreshold(10000);
305 me.setMu1(0.5);
306 me.setMu2(0.5);
307 me.setSampleStep(5);
308 tracker.setMovingEdge(me);
309
310 // Klt
311#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
312 vpKltOpencv klt;
313 tracker.setKltMaskBorder(5);
314 klt.setMaxFeatures(10000);
315 klt.setWindowSize(5);
316 klt.setQuality(0.01);
317 klt.setMinDistance(5);
318 klt.setHarrisFreeParameter(0.02);
319 klt.setBlockSize(3);
320 klt.setPyramidLevels(3);
321
322 tracker.setKltOpencv(klt);
323#endif
324
325 // Depth
326 tracker.setDepthNormalFeatureEstimationMethod(vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION);
327 tracker.setDepthNormalPclPlaneEstimationMethod(2);
328 tracker.setDepthNormalPclPlaneEstimationRansacMaxIter(200);
329 tracker.setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
330 tracker.setDepthNormalSamplingStep(2, 2);
331
332 tracker.setDepthDenseSamplingStep(4, 4);
333
334 tracker.setAngleAppear(vpMath::rad(85.0));
335 tracker.setAngleDisappear(vpMath::rad(89.0));
336 tracker.setNearClippingDistance(0.01);
337 tracker.setFarClippingDistance(2.0);
338 tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
339#endif
340
341#ifdef VISP_HAVE_COIN3D
342 tracker.loadModel(input_directory + "/Models/chateau.wrl", input_directory + "/Models/chateau.cao");
343#else
344 tracker.loadModel(input_directory + "/Models/chateau.cao", input_directory + "/Models/chateau.cao");
345#endif
347 T[0][0] = -1;
348 T[0][3] = -0.2;
349 T[1][1] = 0;
350 T[1][2] = 1;
351 T[1][3] = 0.12;
352 T[2][1] = 1;
353 T[2][2] = 0;
354 T[2][3] = -0.15;
355 tracker.loadModel(input_directory + "/Models/cube.cao", false, T);
356 vpCameraParameters cam_color, cam_depth;
357 tracker.getCameraParameters(cam_color, cam_depth);
358 tracker.setDisplayFeatures(true);
359 tracker.setScanLineVisibilityTest(useScanline);
360
361 std::map<int, std::pair<double, double> > map_thresh;
362 //Take the highest thresholds between all CI machines
363#ifdef VISP_HAVE_COIN3D
365 = useScanline ? std::pair<double, double>(0.005, 3.9) : std::pair<double, double>(0.007, 3.7);
366#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
368 = useScanline ? std::pair<double, double>(0.007, 1.9) : std::pair<double, double>(0.007, 1.8);
370 = useScanline ? std::pair<double, double>(0.005, 3.5) : std::pair<double, double>(0.006, 3.4);
371#endif
373 = useScanline ? std::pair<double, double>(0.003, 1.7) : std::pair<double, double>(0.002, 0.8);
374#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
376 = std::pair<double, double>(0.002, 0.3);
378 = useScanline ? std::pair<double, double>(0.002, 1.8) : std::pair<double, double>(0.002, 0.7);
379#endif
380#else
382 = useScanline ? std::pair<double, double>(0.007, 2.3) : std::pair<double, double>(0.007, 2.1);
383#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
385 = useScanline ? std::pair<double, double>(0.006, 1.7) : std::pair<double, double>(0.005, 1.4);
387 = useScanline ? std::pair<double, double>(0.004, 1.2) : std::pair<double, double>(0.004, 1.2);
388#endif
390 = useScanline ? std::pair<double, double>(0.002, 0.7) : std::pair<double, double>(0.001, 0.4);
391#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
393 = std::pair<double, double>(0.002, 0.3);
395 = useScanline ? std::pair<double, double>(0.001, 0.5) : std::pair<double, double>(0.001, 0.4);
396#endif
397#endif
398
399 vpImage<Type> I, I_depth;
400 vpImage<uint16_t> I_depth_raw;
401 vpHomogeneousMatrix cMo_truth;
402 std::vector<vpColVector> pointcloud;
403 int cpt_frame = 1;
404 if (!read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth)) {
405 std::cerr << "Cannot read first frame!" << std::endl;
406 return EXIT_FAILURE;
407 }
408
409 vpImage<bool> mask(I.getHeight(), I.getWidth());
410 const double roi_step = 7.0;
411 const double roi_step2 = 6.0;
412 if (use_mask) {
413 mask = false;
414 for (unsigned int i = (unsigned int) (I.getRows()/roi_step); i < (unsigned int) (I.getRows()*roi_step2/roi_step); i++) {
415 for (unsigned int j = (unsigned int) (I.getCols()/roi_step); j < (unsigned int) (I.getCols()*roi_step2/roi_step); j++) {
416 mask[i][j] = true;
417 }
418 }
419 tracker.setMask(mask);
420 }
421
422 vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
423
424 vpImage<vpRGBa> results(I.getHeight(), I.getWidth() + I_depth.getWidth());
425 vpImage<vpRGBa> resultsColor(I.getHeight(), I.getWidth());
426 vpImage<vpRGBa> resultsDepth(I_depth.getHeight(), I_depth.getWidth());
427 if (save) {
428 vpIoTools::makeDirectory("results");
429 }
430 if (opt_display) {
431#ifdef VISP_HAVE_DISPLAY
432 display1.init(I, 0, 0, "Image");
433 display2.init(I_depth, (int) I.getWidth(), 0, "Depth");
434#endif
435 }
436
437 vpHomogeneousMatrix depth_M_color;
438 depth_M_color[0][3] = -0.05;
439 tracker.setCameraTransformationMatrix("Camera2", depth_M_color);
440 tracker.initFromPose(I, cMo_truth);
441
442 vpFont font(24);
443 bool click = false, quit = false, correct_accuracy = true;
444 std::vector<double> vec_err_t, vec_err_tu;
445 std::vector<double> time_vec;
446 while (read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth) && !quit
447 && (opt_lastFrame > 0 ? (int)cpt_frame <= opt_lastFrame : true)) {
448 vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
449
450 if (opt_display) {
452 vpDisplay::display(I_depth);
453 } else if (save) {
454 convert(I, resultsColor);
455 convert(I_depth, resultsDepth);
456 }
457
458 double t = vpTime::measureTimeMs();
459 std::map<std::string, const vpImage<Type> *> mapOfImages;
460 mapOfImages["Camera1"] = &I;
461 std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
462 mapOfPointclouds["Camera2"] = &pointcloud;
463 std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
464 if (!use_depth) {
465 mapOfWidths["Camera2"] = 0;
466 mapOfHeights["Camera2"] = 0;
467 } else {
468 mapOfWidths["Camera2"] = I_depth.getWidth();
469 mapOfHeights["Camera2"] = I_depth.getHeight();
470 }
471
472 tracker.track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
473 vpHomogeneousMatrix cMo = tracker.getPose();
474 t = vpTime::measureTimeMs() - t;
475 time_vec.push_back(t);
476
477 if (opt_display) {
478 tracker.display(I, I_depth, cMo, depth_M_color*cMo, cam_color, cam_depth, vpColor::red, 3);
479 vpDisplay::displayFrame(I, cMo, cam_depth, 0.05, vpColor::none, 3);
480 vpDisplay::displayFrame(I_depth, depth_M_color*cMo, cam_depth, 0.05, vpColor::none, 3);
481
482 std::stringstream ss;
483 ss << "Frame: " << cpt_frame;
484 vpDisplay::displayText(I_depth, 20, 20, ss.str(), vpColor::red);
485 ss.str("");
486 ss << "Nb features: " << tracker.getError().getRows();
487 vpDisplay::displayText(I_depth, 40, 20, ss.str(), vpColor::red);
488 } else if (save) {
490 std::map<std::string, std::vector<std::vector<double> > > mapOfModels;
491 std::map<std::string, unsigned int> mapOfW;
492 mapOfW["Camera1"] = I.getWidth();
493 mapOfW["Camera2"] = I.getHeight();
494 std::map<std::string, unsigned int> mapOfH;
495 mapOfH["Camera1"] = I_depth.getWidth();
496 mapOfH["Camera2"] = I_depth.getHeight();
497 std::map<std::string, vpHomogeneousMatrix> mapOfcMos;
498 mapOfcMos["Camera1"] = cMo;
499 mapOfcMos["Camera2"] = depth_M_color*cMo;
500 std::map<std::string, vpCameraParameters> mapOfCams;
501 mapOfCams["Camera1"] = cam_color;
502 mapOfCams["Camera2"] = cam_depth;
503 tracker.getModelForDisplay(mapOfModels, mapOfW, mapOfH, mapOfcMos, mapOfCams);
504 for (std::map<std::string, std::vector<std::vector<double> > >::const_iterator it = mapOfModels.begin();
505 it != mapOfModels.end(); ++it) {
506 for (size_t i = 0; i < it->second.size(); i++) {
507 // test if it->second[i][0] = 0
508 if (std::fabs(it->second[i][0]) <= std::numeric_limits<double>::epsilon()) {
509 vpImageDraw::drawLine(it->first == "Camera1" ? resultsColor : resultsDepth, vpImagePoint(it->second[i][1], it->second[i][2]),
510 vpImagePoint(it->second[i][3], it->second[i][4]), vpColor::red, 3);
511 }
512 }
513 }
515
517 std::map<std::string, std::vector<std::vector<double> > > mapOfFeatures;
518 tracker.getFeaturesForDisplay(mapOfFeatures);
519 for (std::map<std::string, std::vector<std::vector<double> > >::const_iterator it = mapOfFeatures.begin();
520 it != mapOfFeatures.end(); ++it) {
521 for (size_t i = 0; i < it->second.size(); i++) {
522 if (std::fabs(it->second[i][0]) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][0] = 0 for ME
523 vpColor color = vpColor::yellow;
524 if (std::fabs(it->second[i][3]) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][3] = 0
525 color = vpColor::green;
526 } else if (std::fabs(it->second[i][3] - 1) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][3] = 1
527 color = vpColor::blue;
528 } else if (std::fabs(it->second[i][3] - 2) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][3] = 2
529 color = vpColor::purple;
530 } else if (std::fabs(it->second[i][3] - 3) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][3] = 3
531 color = vpColor::red;
532 } else if (std::fabs(it->second[i][3] - 4) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][3] = 4
533 color = vpColor::cyan;
534 }
535 vpImageDraw::drawCross(it->first == "Camera1" ? resultsColor : resultsDepth, vpImagePoint(it->second[i][1], it->second[i][2]),
536 3, color, 1);
537 } else if (std::fabs(it->second[i][0] - 1) <= std::numeric_limits<double>::epsilon()) { // test it->second[i][0] = 1 for KLT
538 vpImageDraw::drawCross(it->first == "Camera1" ? resultsColor : resultsDepth, vpImagePoint(it->second[i][1], it->second[i][2]),
539 10, vpColor::red, 1);
540 }
541 }
542 }
544
545 //Computation time
546 std::ostringstream oss;
547 oss << "Tracking time: " << t << " ms";
548 font.drawText(resultsColor, oss.str(), vpImagePoint(20,20), vpColor::red);
549 }
550
551 vpPoseVector pose_est(cMo);
552 vpPoseVector pose_truth(cMo_truth);
553 vpColVector t_est(3), t_truth(3);
554 vpColVector tu_est(3), tu_truth(3);
555 for (unsigned int i = 0; i < 3; i++) {
556 t_est[i] = pose_est[i];
557 t_truth[i] = pose_truth[i];
558 tu_est[i] = pose_est[i+3];
559 tu_truth[i] = pose_truth[i+3];
560 }
561
562 vpColVector t_err = t_truth-t_est, tu_err = tu_truth-tu_est;
563 const double t_thresh = map_thresh[!use_depth ? trackerType_image : trackerType_image | vpMbGenericTracker::DEPTH_DENSE_TRACKER].first;
564 const double tu_thresh = map_thresh[!use_depth ? trackerType_image : trackerType_image | vpMbGenericTracker::DEPTH_DENSE_TRACKER].second;
565 double t_err2 = sqrt(t_err.sumSquare()), tu_err2 = vpMath::deg(sqrt(tu_err.sumSquare()));
566 vec_err_t.push_back( t_err2 );
567 vec_err_tu.push_back( tu_err2 );
568 if ( !use_mask && (t_err2 > t_thresh || tu_err2 > tu_thresh) ) { //no accuracy test with mask
569 std::cerr << "Pose estimated exceeds the threshold (t_thresh = " << t_thresh << " ; tu_thresh = " << tu_thresh << ")!" << std::endl;
570 std::cout << "t_err: " << t_err2 << " ; tu_err: " << tu_err2 << std::endl;
571 correct_accuracy = false;
572 }
573
574 if (opt_display) {
575 if (use_mask) {
576 vpRect roi(vpImagePoint(I.getRows()/roi_step, I.getCols()/roi_step),
577 vpImagePoint(I.getRows()*roi_step2/roi_step, I.getCols()*roi_step2/roi_step));
580 }
581
583 vpDisplay::flush(I_depth);
584 } else if (save) {
586 char buffer[256];
587 std::ostringstream oss;
588 oss << "results/image_%04d.png";
589 sprintf(buffer, oss.str().c_str(), cpt_frame);
590
591 results.insert(resultsColor, vpImagePoint());
592 results.insert(resultsDepth, vpImagePoint(0, resultsColor.getWidth()));
593
594 vpImageIo::write(results, buffer);
596 }
597
598 if (opt_display && opt_click_allowed) {
600 if (vpDisplay::getClick(I, button, click)) {
601 switch (button) {
603 quit = !click;
604 break;
605
607 click = !click;
608 break;
609
610 default:
611 break;
612 }
613 }
614 }
615
616 cpt_frame++;
617 }
618
619 if (!time_vec.empty())
620 std::cout << "Computation time, Mean: " << vpMath::getMean(time_vec) << " ms ; Median: " << vpMath::getMedian(time_vec)
621 << " ms ; Std: " << vpMath::getStdev(time_vec) << " ms" << std::endl;
622
623 if (!vec_err_t.empty())
624 std::cout << "Max translation error: " << *std::max_element(vec_err_t.begin(), vec_err_t.end()) << std::endl;
625
626 if (!vec_err_tu.empty())
627 std::cout << "Max thetau error: " << *std::max_element(vec_err_tu.begin(), vec_err_tu.end()) << std::endl;
628
629 return correct_accuracy ? EXIT_SUCCESS : EXIT_FAILURE;
630 }
631}
632
633int main(int argc, const char *argv[])
634{
635 try {
636 std::string env_ipath;
637 std::string opt_ipath = "";
638 bool opt_click_allowed = true;
639 bool opt_display = true;
640 bool opt_save = false;
641 bool useScanline = false;
642 int trackerType_image = vpMbGenericTracker::EDGE_TRACKER;
643#if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
644 // To avoid Debian test timeout
645 int opt_lastFrame = 5;
646#else
647 int opt_lastFrame = -1;
648#endif
649 bool use_depth = false;
650 bool use_mask = false;
651 bool use_color_image = false;
652
653 // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
654 // environment variable value
656
657 // Read the command line options
658 if (!getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display, opt_save,
659 useScanline, trackerType_image, opt_lastFrame, use_depth,
660 use_mask, use_color_image)) {
661 return EXIT_FAILURE;
662 }
663
664 std::cout << "trackerType_image: " << trackerType_image << std::endl;
665 std::cout << "useScanline: " << useScanline << std::endl;
666 std::cout << "use_depth: " << use_depth << std::endl;
667 std::cout << "use_mask: " << use_mask << std::endl;
668 std::cout << "use_color_image: " << use_color_image << std::endl;
669#ifdef VISP_HAVE_COIN3D
670 std::cout << "COIN3D available." << std::endl;
671#endif
672
673#if !defined(VISP_HAVE_MODULE_KLT) || (!defined(VISP_HAVE_OPENCV) || (VISP_HAVE_OPENCV_VERSION < 0x020100))
674 if (trackerType_image & 2) {
675 std::cout << "KLT features cannot be used: ViSP is not built with "
676 "KLT module or OpenCV is not available.\nTest is not run."
677 << std::endl;
678 return EXIT_SUCCESS;
679 }
680#endif
681
682 // Test if an input path is set
683 if (opt_ipath.empty() && env_ipath.empty()) {
684 usage(argv[0], NULL);
685 std::cerr << std::endl << "ERROR:" << std::endl;
686 std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
687 << " environment variable to specify the location of the " << std::endl
688 << " image path where test images are located." << std::endl
689 << std::endl;
690
691 return EXIT_FAILURE;
692 }
693
694 std::string input_directory = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/Castle-simu");
695 if (!vpIoTools::checkDirectory(input_directory)) {
696 std::cerr << "ViSP-images does not contain the folder: " << input_directory << "!" << std::endl;
697 return EXIT_SUCCESS;
698 }
699
700 if (use_color_image) {
701 return run<vpRGBa>(input_directory, opt_click_allowed, opt_display, useScanline,
702 trackerType_image, opt_lastFrame, use_depth, use_mask, opt_save);
703 } else {
704 return run<unsigned char>(input_directory, opt_click_allowed, opt_display, useScanline,
705 trackerType_image, opt_lastFrame, use_depth, use_mask, opt_save);
706 }
707 } catch (const vpException &e) {
708 std::cout << "Catch an exception: " << e << std::endl;
709 return EXIT_FAILURE;
710 }
711}
712#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
713int main()
714{
715 std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
716 return EXIT_SUCCESS;
717}
718#else
719int main() {
720 std::cout << "Enable MBT module (VISP_HAVE_MODULE_MBT) to launch this test." << std::endl;
721 return EXIT_SUCCESS;
722}
723#endif
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
double sumSquare() const
Class to define RGB colors available for display functionnalities.
Definition: vpColor.h:158
static const vpColor red
Definition: vpColor.h:217
static const vpColor cyan
Definition: vpColor.h:226
static const vpColor none
Definition: vpColor.h:229
static const vpColor blue
Definition: vpColor.h:223
static const vpColor purple
Definition: vpColor.h:228
static const vpColor yellow
Definition: vpColor.h:225
static const vpColor green
Definition: vpColor.h:220
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
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 displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
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
Font drawing functions for image.
Definition: vpFont.h:56
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void drawLine(vpImage< unsigned char > &I, const vpImagePoint &ip1, const vpImagePoint &ip2, unsigned char color, unsigned int thickness=1)
static void drawCross(vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, unsigned char color, unsigned int thickness=1)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
static void write(const vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:293
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:88
Definition of the vpImage class member functions.
Definition: vpImage.h:139
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
unsigned int getCols() const
Definition: vpImage.h:179
unsigned int getHeight() const
Definition: vpImage.h:188
unsigned int getRows() const
Definition: vpImage.h:218
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:802
static void readBinaryValueLE(std::ifstream &file, int16_t &short_value)
Definition: vpIoTools.cpp:1993
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
static void makeDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:570
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
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:261
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:291
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:241
static double deg(double rad)
Definition: vpMath.h:103
Real-time 6D object pose tracking using its CAD model.
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
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Implementation of a pose vector and operations on poses.
Definition: vpPoseVector.h:152
Defines a rectangle in the plane.
Definition: vpRect.h:80
VISP_EXPORT double measureTimeMs()