Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
tutorial-detection-object-mbt-deprecated.cpp
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/vision/vpKeyPoint.h>
int main(int argc, char **argv)
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
try {
std::string videoname = "teabox.mpg";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name")
videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
return 0;
}
}
std::string parentname = vpIoTools::getParent(videoname);
std::string objectname = vpIoTools::getNameWE(videoname);
if (!parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init,"
#ifdef VISP_HAVE_XML2
<< "xml,"
#endif
<< "cao or wrl]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
return 0;
#endif
display.init(I, 100, 100, "Model-based edge tracker");
vpMbEdgeTracker tracker;
bool usexml = false;
#ifdef VISP_HAVE_XML2
if (vpIoTools::checkFilename(objectname + ".xml")) {
tracker.loadConfigFile(objectname + ".xml");
tracker.getCameraParameters(cam);
usexml = true;
}
#endif
if (!usexml) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setThreshold(10000);
me.setMu1(0.5);
me.setMu2(0.5);
tracker.setMovingEdge(me);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
tracker.setFarClippingDistance(100.0);
}
tracker.setOgreVisibilityTest(false);
if (vpIoTools::checkFilename(objectname + ".cao"))
tracker.loadModel(objectname + ".cao");
else if (vpIoTools::checkFilename(objectname + ".wrl"))
tracker.loadModel(objectname + ".wrl");
tracker.setDisplayFeatures(true);
tracker.initClick(I, objectname + ".init", true);
tracker.track(I);
#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
std::string detectorName = "SIFT";
std::string extractorName = "SIFT";
std::string matcherName = "BruteForce";
std::string configurationFile = "detection-config-SIFT.xml";
#else
std::string detectorName = "FAST";
std::string extractorName = "ORB";
std::string matcherName = "BruteForce-Hamming";
std::string configurationFile = "detection-config.xml";
#endif
vpKeyPoint keypoint_learning;
if (usexml) {
#ifdef VISP_HAVE_XML2
keypoint_learning.loadConfigFile(configurationFile);
#endif
} else {
keypoint_learning.setDetector(detectorName);
keypoint_learning.setExtractor(extractorName);
keypoint_learning.setMatcher(matcherName);
}
std::vector<cv::KeyPoint> trainKeyPoints;
double elapsedTime;
keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
std::vector<vpPolygon> polygons;
std::vector<std::vector<vpPoint> > roisPt;
std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.getPolygonFaces(false);
polygons = pair.first;
roisPt = pair.second;
std::vector<cv::Point3f> points3f;
tracker.getPose(cMo);
vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
keypoint_learning.buildReference(I, trainKeyPoints, points3f);
keypoint_learning.saveLearningData("teabox_learning_data.bin", true);
for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
}
vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible teabox faces", vpColor::red);
vpDisplay::displayText(I, 30, 10, "Click to continue with detection...", vpColor::red);
vpKeyPoint keypoint_detection;
if (usexml) {
#ifdef VISP_HAVE_XML2
keypoint_detection.loadConfigFile(configurationFile);
#endif
} else {
keypoint_detection.setDetector(detectorName);
keypoint_detection.setExtractor(extractorName);
keypoint_detection.setMatcher(matcherName);
keypoint_detection.setMatchingRatioThreshold(0.8);
keypoint_detection.setUseRansacVVS(true);
keypoint_detection.setUseRansacConsensusPercentage(true);
keypoint_detection.setRansacConsensusPercentage(20.0);
keypoint_detection.setRansacIteration(200);
keypoint_detection.setRansacThreshold(0.005);
}
keypoint_detection.loadLearningData("teabox_learning_data.bin", true);
double error;
bool click_done = false;
while (!g.end()) {
g.acquire(I);
vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
tracker.setPose(I, cMo);
tracker.display(I, cMo, cam, vpColor::red, 2);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
}
vpDisplay::displayText(I, 30, 10, "A click to exit.", vpColor::red);
if (vpDisplay::getClick(I, false)) {
click_done = true;
break;
}
}
if (!click_done)
#ifdef VISP_HAVE_XML2
#endif
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
return 0;
}