Visual Servoing Platform  version 3.2.0
tutorial-mb-generic-tracker.cpp
1 #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/vpMbGenericTracker.h>
10 #include <visp3/io/vpVideoReader.h>
11 
12 int main(int argc, char **argv)
13 {
14 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
15 
16  try {
17  std::string opt_videoname = "teabox.mpg";
18  std::string opt_modelname = "teabox";
19  int opt_tracker = 1;
20 
21  for (int i = 0; i < argc; i++) {
22  if (std::string(argv[i]) == "--video")
23  opt_videoname = std::string(argv[i + 1]);
24  else if (std::string(argv[i]) == "--model")
25  opt_modelname = std::string(argv[i + 1]);
26  else if (std::string(argv[i]) == "--tracker")
27  opt_tracker = atoi(argv[i + 1]);
28  else if (std::string(argv[i]) == "--help") {
29  std::cout << "\nUsage: " << argv[0]
30  << " [--video <video name>] [--model <model name>] "
31  "[--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n"
32  << std::endl;
33  return 0;
34  }
35  }
36  std::string parentname = vpIoTools::getParent(opt_modelname);
37  std::string objectname = vpIoTools::getNameWE(opt_modelname);
38 
39  if (!parentname.empty())
40  objectname = parentname + "/" + objectname;
41 
42  std::cout << "Video name: " << opt_videoname << std::endl;
43  std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
44  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
45 
53 
54  vpVideoReader g;
55  g.setFileName(opt_videoname);
56  g.open(I);
57 
58  vpDisplay *display = NULL;
59 #if defined(VISP_HAVE_X11)
60  display = new vpDisplayX;
61 #elif defined(VISP_HAVE_GDI)
62  display = new vpDisplayGDI;
63 #else
64  display = new vpDisplayOpenCV;
65 #endif
66  display->init(I, 100, 100, "Model-based tracker");
67 
69  vpMbGenericTracker tracker;
70  if (opt_tracker == 0)
72 #ifdef VISP_HAVE_MODULE_KLT
73  else if (opt_tracker == 1)
75  else
77 #else
78  else {
79  std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
80  "In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
81  << std::endl;
82  return 0;
83  }
84 #endif
85 
88  if (opt_tracker == 0 || opt_tracker == 2) {
89  vpMe me;
90  me.setMaskSize(5);
91  me.setMaskNumber(180);
92  me.setRange(8);
93  me.setThreshold(10000);
94  me.setMu1(0.5);
95  me.setMu2(0.5);
96  me.setSampleStep(4);
97  tracker.setMovingEdge(me);
98  }
99 
100 #ifdef VISP_HAVE_MODULE_KLT
101  if (opt_tracker == 1 || opt_tracker == 2) {
102  vpKltOpencv klt_settings;
103  klt_settings.setMaxFeatures(300);
104  klt_settings.setWindowSize(5);
105  klt_settings.setQuality(0.015);
106  klt_settings.setMinDistance(8);
107  klt_settings.setHarrisFreeParameter(0.01);
108  klt_settings.setBlockSize(3);
109  klt_settings.setPyramidLevels(3);
110  tracker.setKltOpencv(klt_settings);
111  tracker.setKltMaskBorder(5);
112  }
113 #endif
114 
116  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
118  tracker.setCameraParameters(cam);
120 
122  tracker.loadModel(objectname + ".cao");
125  tracker.setDisplayFeatures(true);
128  tracker.initClick(I, objectname + ".init", true);
130 
131  while (!g.end()) {
132  g.acquire(I);
135  tracker.track(I);
138  tracker.getPose(cMo);
141  tracker.getCameraParameters(cam);
142  tracker.display(I, cMo, cam, vpColor::red, 2, true);
144  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
145  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
146  vpDisplay::flush(I);
147 
148  if (vpDisplay::getClick(I, false))
149  break;
150  }
153  delete display;
155  } catch (const vpException &e) {
156  std::cout << "Catch a ViSP exception: " << e << std::endl;
157  }
158 #else
159  (void)argc;
160  (void)argv;
161  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
162 #endif
163 }
vpMbGenericTracker::setKltOpencv
virtual void setKltOpencv(const vpKltOpencv &t)
Definition: vpMbGenericTracker.cpp:3271
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:150
vpMbGenericTracker
Real-time 6D object pose tracking using its CAD model.
Definition: vpMbGenericTracker.h:79
vpKltOpencv::setMinDistance
void setMinDistance(double minDistance)
Definition: vpKltOpencv.cpp:380
vpKltOpencv::setMaxFeatures
void setMaxFeatures(const int maxCount)
Definition: vpKltOpencv.cpp:333
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMe::setMu2
void setMu2(const double &mu_2)
Definition: vpMe.h:247
vpMbGenericTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbGenericTracker.cpp:2712
vpIoTools::getNameWE
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1465
vpKltOpencv::setQuality
void setQuality(double qualityLevel)
Definition: vpKltOpencv.cpp:355
vpMbGenericTracker::setMovingEdge
virtual void setMovingEdge(const vpMe &me)
Definition: vpMbGenericTracker.cpp:3481
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:257
vpMbGenericTracker::loadModel
virtual void loadModel(const std::string &modelFile, const bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbGenericTracker.cpp:2208
vpMbGenericTracker::getCameraParameters
virtual void getCameraParameters(vpCameraParameters &cam1, vpCameraParameters &cam2) const
Definition: vpMbGenericTracker.cpp:752
vpKltOpencv::setHarrisFreeParameter
void setHarrisFreeParameter(double harris_k)
Definition: vpKltOpencv.cpp:363
vpMe::setThreshold
void setThreshold(const double &t)
Definition: vpMe.h:299
vpMbGenericTracker::KLT_TRACKER
Definition: vpMbGenericTracker.h:85
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
vpMe
Definition: vpMe.h:59
vpMe::setRange
void setRange(const unsigned int &r)
Definition: vpMe.h:270
vpDisplay::displayFrame
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))
Definition: vpDisplay_uchar.cpp:377
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:141
vpKltOpencv
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:77
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:196
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:676
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:600
vpMbGenericTracker::initClick
virtual void initClick(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, const bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
Definition: vpMbGenericTracker.cpp:1606
vpMbGenericTracker::setKltMaskBorder
virtual void setKltMaskBorder(const unsigned int &e)
Definition: vpMbGenericTracker.cpp:3367
vpMbGenericTracker::track
virtual void track(const vpImage< unsigned char > &I)
Definition: vpMbGenericTracker.cpp:4042
vpMe::setMaskNumber
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:453
vpKltOpencv::setBlockSize
void setBlockSize(const int blockSize)
Definition: vpKltOpencv.cpp:398
vpKltOpencv::setWindowSize
void setWindowSize(const int winSize)
Definition: vpKltOpencv.cpp:342
vpMbGenericTracker::setTrackerType
virtual void setTrackerType(const int type)
Definition: vpMbGenericTracker.cpp:3907
vpColor::none
static const vpColor none
Definition: vpColor.h:191
vpMbGenericTracker::EDGE_TRACKER
Definition: vpMbGenericTracker.h:83
vpKltOpencv::setPyramidLevels
void setPyramidLevels(const int pyrMaxLevel)
Definition: vpKltOpencv.cpp:408
vpMbGenericTracker::getPose
virtual void getPose(vpHomogeneousMatrix &c1Mo, vpHomogeneousMatrix &c2Mo) const
Definition: vpMbGenericTracker.cpp:1500
vpMe::setSampleStep
void setSampleStep(const double &s)
Definition: vpMe.h:277
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:652
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:701
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:91
vpMe::setMu1
void setMu1(const double &mu_1)
Definition: vpMe.h:240
vpDisplay
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:170
vpMe::setMaskSize
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:460
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:265
vpMbGenericTracker::setDisplayFeatures
virtual void setDisplayFeatures(const bool displayF)
Definition: vpMbGenericTracker.cpp:3098
vpVideoReader::setFileName
void setFileName(const char *filename)
Definition: vpVideoReader.cpp:91
vpColor::red
static const vpColor red
Definition: vpColor.h:179
vpCameraParameters::initPersProjWithoutDistortion
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
Definition: vpCameraParameters.cpp:182
vpMbGenericTracker::display
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
Definition: vpMbGenericTracker.cpp:556
vpIoTools::getParent
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1478