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 defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D)
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 defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D)
52 std::string videoname =
"cube.mp4";
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" || std::string(argv[i]) ==
"-h") {
58 std::cout <<
"\nUsage: " << argv[0] <<
" [--name <video name>] [--help] [-h]\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,"
71 <<
"cao or wrl]" << std::endl;
72 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
80 #if defined(VISP_HAVE_PUGIXML)
117 vpKeyPoint keypoint_learning(
"ORB",
"ORB",
"BruteForce-Hamming");
118 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
119 keypoint_learning.setDetectorParameter(
"ORB",
"nLevels", 1);
121 cv::Ptr<cv::ORB> orb_learning = keypoint_learning.
getDetector(
"ORB").dynamicCast<cv::ORB>();
123 orb_learning->setNLevels(1);
128 #if defined(VISP_HAVE_X11)
130 #elif defined(VISP_HAVE_GDI)
132 #elif defined(HAVE_OPENCV_HIGHGUI)
135 std::cout <<
"No image viewer is available..." << std::endl;
142 std::string imageName[] = {
"cube0001.png",
"cube0150.png",
"cube0200.png" };
144 vpHomogeneousMatrix(0.02143385294, 0.1098083886, 0.5127439561, 2.087159614, 1.141775176, -0.4701291124),
145 vpHomogeneousMatrix(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828),
146 vpHomogeneousMatrix(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025) };
147 for (
int i = 0; i < 3; i++) {
152 std::stringstream title;
153 title <<
"Learning cube on image: " << imageName[i];
159 tracker.
setPose(I, initPoseTab[i]);
172 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)
226 #elif defined(HAVE_OPENCV_HIGHGUI)
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);
319 std::cout <<
"Catch an exception: " << e << std::endl;
324 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor none
static const vpColor green
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") vp_override
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCircle(const vpImage< unsigned char > &I, const vpImageCircle &circle, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void display(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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getHeight() const
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())
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=nullptr)
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
unsigned int buildReference(const vpImage< unsigned char > &I)
cv::Ptr< cv::FeatureDetector > getDetector(const vpFeatureDetectorType &type) const
static double rad(double deg)
Real-time 6D object pose tracking using its CAD model.
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) vp_override
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) vp_override
virtual void setAngleDisappear(const double &a) vp_override
virtual void getPose(vpHomogeneousMatrix &cMo) const vp_override
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) vp_override
virtual void getCameraParameters(vpCameraParameters &camera) const vp_override
virtual void setOgreVisibilityTest(const bool &v) vp_override
virtual void setMovingEdge(const vpMe &me)
virtual void setAngleAppear(const double &a) vp_override
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false) vp_override
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix()) vp_override
virtual void setFarClippingDistance(const double &dist) vp_override
virtual void setNearClippingDistance(const double &dist) vp_override
virtual void getClipping(unsigned int &clippingFlag1, unsigned int &clippingFlag2) const
virtual void setCameraParameters(const vpCameraParameters &camera) vp_override
virtual void setClipping(const unsigned int &flags) vp_override
virtual void setDisplayFeatures(bool displayF) vp_override
virtual void track(const vpImage< unsigned char > &I) vp_override
void setMu1(const double &mu_1)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setNbTotalSample(const int &ntotal_sample)
void setMaskNumber(const unsigned int &mask_number)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void setMaskSize(const unsigned int &mask_size)
void setMu2(const double &mu_2)
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)
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.