Visual Servoing Platform  version 3.6.1 under development (2024-03-28)
tutorial-mb-klt-tracker.cpp
1 
2 #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>
7 #include <visp3/io/vpVideoReader.h>
8 #include <visp3/mbt/vpMbKltTracker.h>
9 
10 int main(int argc, char **argv)
11 {
12 #if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
13 
14  try {
15  std::string videoname = "teabox.mp4";
16 
17  for (int i = 0; i < argc; i++) {
18  if (std::string(argv[i]) == "--name")
19  videoname = std::string(argv[i + 1]);
20  else if (std::string(argv[i]) == "--help") {
21  std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
22  return EXIT_SUCCESS;
23  }
24  }
25  std::string parentname = vpIoTools::getParent(videoname);
26  std::string objectname = vpIoTools::getNameWE(videoname);
27 
28  if (!parentname.empty())
29  objectname = parentname + "/" + objectname;
30 
31  std::cout << "Video name: " << videoname << std::endl;
32  std::cout << "Tracker requested config files: " << objectname << ".[init,"
33  << "xml,"
34  << "cao or wrl]" << std::endl;
35  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
39 
40  vpVideoReader g;
41  g.setFileName(videoname);
42  g.open(I);
43 
44 #if defined(VISP_HAVE_X11)
46 #elif defined(VISP_HAVE_GDI)
48 #elif defined(HAVE_OPENCV_HIGHGUI)
50 #else
51  std::cout << "No image viewer is available..." << std::endl;
52  return EXIT_FAILURE;
53 #endif
54 
55  display.init(I, 100, 100, "Model-based keypoint tracker");
56 
57  vpMbKltTracker tracker;
58  bool usexml = false;
60 #if defined(VISP_HAVE_PUGIXML)
61  if (vpIoTools::checkFilename(objectname + ".xml")) {
62  tracker.loadConfigFile(objectname + ".xml");
63  usexml = true;
64  }
65 #endif
67  if (!usexml) {
69  vpKltOpencv klt_settings;
70  klt_settings.setMaxFeatures(300);
71  klt_settings.setWindowSize(5);
72  klt_settings.setQuality(0.015);
73  klt_settings.setMinDistance(8);
74  klt_settings.setHarrisFreeParameter(0.01);
75  klt_settings.setBlockSize(3);
76  klt_settings.setPyramidLevels(3);
77  tracker.setKltOpencv(klt_settings);
78  tracker.setKltMaskBorder(5);
79  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
80  tracker.setCameraParameters(cam);
81  tracker.setAngleAppear(vpMath::rad(70));
82  tracker.setAngleDisappear(vpMath::rad(80));
83  tracker.setNearClippingDistance(0.1);
84  tracker.setFarClippingDistance(100.0);
87  }
88  tracker.setOgreVisibilityTest(true);
89  tracker.setOgreShowConfigDialog(false);
90  tracker.loadModel(objectname + "-triangle.cao");
91  tracker.setDisplayFeatures(true);
92  tracker.initClick(I, objectname + ".init", true);
93 
94  while (!g.end()) {
95  g.acquire(I);
97  tracker.track(I);
98  tracker.getPose(cMo);
99  tracker.getCameraParameters(cam);
100  tracker.display(I, cMo, cam, vpColor::red, 2);
101  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
102  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
103  vpDisplay::flush(I);
104 
105  if (vpDisplay::getClick(I, false))
106  break;
107  }
109  }
110  catch (const vpException &e) {
111  std::cout << "Catch a ViSP exception: " << e << std::endl;
112  }
113 #ifdef VISP_HAVE_OGRE
114  catch (Ogre::Exception &e) {
115  std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
116  }
117 #endif
118 #else
119  (void)argc;
120  (void)argv;
121  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
122 #endif
123 }
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor red
Definition: vpColor.h:211
static const vpColor none
Definition: vpColor.h:223
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
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:128
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
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 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.
Definition: vpException.h:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:1199
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1950
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:2033
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:73
void setBlockSize(int blockSize)
Definition: vpKltOpencv.h:266
void setQuality(double qualityLevel)
Definition: vpKltOpencv.h:355
void setHarrisFreeParameter(double harris_k)
Definition: vpKltOpencv.h:274
void setMaxFeatures(int maxCount)
Definition: vpKltOpencv.h:314
void setMinDistance(double minDistance)
Definition: vpKltOpencv.h:323
void setWindowSize(int winSize)
Definition: vpKltOpencv.h:376
void setPyramidLevels(int pyrMaxLevel)
Definition: vpKltOpencv.h:342
static double rad(double deg)
Definition: vpMath.h:127
Model based tracker using only KLT.
virtual void setKltOpencv(const vpKltOpencv &t)
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 setOgreVisibilityTest(const bool &v) vp_override
virtual void track(const vpImage< unsigned char > &I) vp_override
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) vp_override
void setCameraParameters(const vpCameraParameters &cam) vp_override
void setKltMaskBorder(const unsigned int &e)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:650
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:248
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:518
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:414
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:481
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:470
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
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.