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Visual Servoing Platform
version 3.3.0
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1 #include <visp3/core/vpConfig.h>
3 #include <visp3/core/vpIoTools.h>
4 #include <visp3/gui/vpDisplayGDI.h>
5 #include <visp3/gui/vpDisplayOpenCV.h>
6 #include <visp3/gui/vpDisplayX.h>
7 #include <visp3/io/vpVideoReader.h>
8 #include <visp3/mbt/vpMbGenericTracker.h>
9 #include <visp3/vision/vpKeyPoint.h>
11 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
15 std::vector<cv::KeyPoint> trainKeyPoints;
17 keypoint_learning.
detect(I, trainKeyPoints, elapsedTime);
21 std::vector<vpPolygon> polygons;
22 std::vector<std::vector<vpPoint> > roisPt;
23 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.
getPolygonFaces();
24 polygons = pair.first;
27 std::vector<cv::Point3f> points3f;
36 keypoint_learning.
buildReference(I, trainKeyPoints, points3f,
true,
id);
40 for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
47 int main(
int argc,
char **argv)
49 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
52 std::string videoname =
"cube.mpeg";
54 for (
int i = 0; i < argc; i++) {
55 if (std::string(argv[i]) ==
"--name")
56 videoname = std::string(argv[i + 1]);
57 else if (std::string(argv[i]) ==
"--help") {
58 std::cout <<
"\nUsage: " << argv[0] <<
" [--name <video name>] [--help]\n" << std::endl;
65 if (!parentname.empty())
66 objectname = parentname +
"/" + objectname;
68 std::cout <<
"Video name: " << videoname << std::endl;
69 std::cout <<
"Tracker requested config files: " << objectname <<
".[init,"
70 #ifdef VISP_HAVE_PUGIXML
73 <<
"cao or wrl]" << std::endl;
74 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
82 #ifdef VISP_HAVE_PUGIXML
118 vpKeyPoint keypoint_learning(
"ORB",
"ORB",
"BruteForce-Hamming");
119 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
122 cv::Ptr<cv::ORB> orb_learning = keypoint_learning.
getDetector(
"ORB").dynamicCast<cv::ORB>();
124 orb_learning->setNLevels(1);
129 #if defined(VISP_HAVE_X11)
131 #elif defined(VISP_HAVE_GDI)
133 #elif defined(VISP_HAVE_OPENCV)
136 std::cout <<
"No image viewer is available..." << std::endl;
143 std::string imageName[] = {
"cube0001.png",
"cube0150.png",
"cube0200.png"};
145 vpHomogeneousMatrix(0.02143385294, 0.1098083886, 0.5127439561, 2.087159614, 1.141775176, -0.4701291124),
146 vpHomogeneousMatrix(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828),
147 vpHomogeneousMatrix(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025)};
148 for (
int i = 0; i < 3; i++) {
151 display.init(I, 10, 10);
153 std::stringstream title;
154 title <<
"Learning cube on image: " << imageName[i];
160 tracker.
setPose(I, initPoseTab[i]);
173 learnCube(I, tracker, keypoint_learning, i);
195 vpKeyPoint keypoint_detection(
"ORB",
"ORB",
"BruteForce-Hamming");
196 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
197 keypoint_detection.setDetectorParameter(
"ORB",
"nLevels", 1);
199 cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
200 orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
202 orb_detector->setNLevels(1);
208 keypoint_detection.loadLearningData(
"cube_learning_data.bin",
true);
213 keypoint_detection.createImageMatching(I, IMatching);
220 #if defined VISP_HAVE_X11
222 #elif defined VISP_HAVE_GTK
224 #elif defined VISP_HAVE_GDI
229 display2.
init(IMatching, 50, 50,
"Display matching between learned and current images");
233 bool click_done =
false;
240 keypoint_detection.insertImageMatching(I, IMatching);
248 if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
260 keypoint_detection.displayMatching(I, IMatching);
263 std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
264 std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
268 for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
271 imPt.set_u(imPt.get_u() + I.
getWidth());
272 imPt.set_v(imPt.get_v() + I.
getHeight());
278 for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
281 imPt.set_u(imPt.get_u() + I.
getWidth());
282 imPt.set_v(imPt.get_v() + I.
getHeight());
288 keypoint_detection.displayMatching(I, IMatching);
296 tracker.
setPose(IMatching, cMo);
318 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
322 std::cout <<
"Catch an exception: " << e << std::endl;
327 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Real-time 6D object pose tracking using its CAD model.
virtual void setDisplayFeatures(bool displayF)
virtual void getCameraParameters(vpCameraParameters &camera) const
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
unsigned int buildReference(const vpImage< unsigned char > &I)
static double rad(double deg)
Generic class defining intrinsic camera parameters.
virtual void setAngleDisappear(const double &a)
void setMu2(const double &mu_2)
virtual void setCameraParameters(const vpCameraParameters &camera)
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
virtual void setFarClippingDistance(const double &dist)
static void read(vpImage< unsigned char > &I, const std::string &filename)
virtual void setNearClippingDistance(const double &dist)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void setMovingEdge(const vpMe &me)
void setThreshold(const double &t)
virtual void setOgreVisibilityTest(const bool &v)
Display for windows using GDI (available on any windows 32 platform).
void setDetectorParameter(const T1 detectorName, const T2 parameterName, const T3 value)
unsigned int getHeight() const
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
void setRange(const unsigned int &r)
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))
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void loadConfigFile(const std::string &configFile)
unsigned int getWidth() const
static void displayCircle(const vpImage< unsigned char > &I, const vpImagePoint ¢er, unsigned int radius, const vpColor &color, bool fill=false, unsigned int thickness=1)
void open(vpImage< vpRGBa > &I)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static const vpColor green
void setFileName(const std::string &filename)
static void display(const vpImage< unsigned char > &I)
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
virtual void track(const vpImage< unsigned char > &I)
void setMaskNumber(const unsigned int &a)
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
virtual void getClipping(unsigned int &clippingFlag1, unsigned int &clippingFlag2) const
virtual void setClipping(const unsigned int &flags)
cv::Ptr< cv::FeatureDetector > getDetector(const vpFeatureDetectorType &type) const
virtual void setAngleAppear(const double &a)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static const vpColor none
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void setNbTotalSample(const int &nb)
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
void setSampleStep(const double &s)
static void flush(const vpImage< unsigned char > &I)
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void compute3DForPointsInPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidates, const std::vector< vpPolygon > &polygons, const std::vector< std::vector< vpPoint > > &roisPt, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)
Implementation of an homogeneous matrix and operations on such kind of matrices.
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
void setMu1(const double &mu_1)
void setMaskSize(const unsigned int &a)
error that can be emited by ViSP classes.
void acquire(vpImage< vpRGBa > &I)