mbtEdgeKltTracking.cpp

/****************************************************************************
 *
 * $Id: mbtTracking.cpp 3957 2012-11-07 15:22:30Z fnovotny $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Example of Hybrid Tracking of MBT and MBT KTL.
 *
 * Authors:
 * Aurelien Yol
 *
 *****************************************************************************/

#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
#include <visp/vpDisplayD3D.h>
#include <visp/vpDisplayGTK.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayX.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpImageIo.h>
#include <visp/vpIoTools.h>
#include <visp/vpMath.h>
#include <visp/vpMbEdgeKltTracker.h>
#include <visp/vpVideoReader.h>
#include <visp/vpParseArgv.h>

#if defined (VISP_HAVE_OPENCV) && defined (VISP_HAVE_DISPLAY)


#define GETOPTARGS  "x:m:i:n:dchtfCo"


void usage(const char *name, const char *badparam)
{
  fprintf(stdout, "\n\
Example of tracking based on the 3D model.\n\
\n\
SYNOPSIS\n\
  %s [-i <test image path>] [-x <config file>]\n\
  [-m <model name>] [-n <initialisation file base name>]\n\
  [-t] [-c] [-d] [-h] [-f] [-C]",
  name );

  fprintf(stdout, "\n\
OPTIONS:                                               \n\
  -i <input image path>                                \n\
     Set image input path.\n\
     From this path read images \n\
     \"ViSP-images/mbt/cube/image%%04d.ppm\". These \n\
     images come from ViSP-images-x.y.z.tar.gz available \n\
     on the ViSP website.\n\
     Setting the VISP_INPUT_IMAGE_PATH environment\n\
     variable produces the same behaviour than using\n\
     this option.\n\
\n\
  -x <config file>                                     \n\
     Set the config file (the xml file) to use.\n\
     The config file is used to specify the parameters of the tracker.\n\
\n\
  -m <model name>                                 \n\
     Specify the name of the file of the model\n\
     The model can either be a vrml model (.wrl) or a .cao file.\n\
\n\
  -f                                  \n\
     Do not use the vrml model, use the .cao one. These two models are \n\
     equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
     website. However, the .cao model allows to use the 3d model based tracker \n\
     without Coin.\n\
\n\
  -C                                  \n\
     Track only the cube (not the cylinder). In this case the models files are\n\
     cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\
     cube_and_cylinder.wrl.\n\
\n\
  -n <initialisation file base name>                                            \n\
     Base name of the initialisation file. The file will be 'base_name'.init .\n\
     This base name is also used for the optionnal picture specifying where to \n\
     click (a .ppm picture).\
\n\
  -t \n\
     Turn off the display of the the moving edges and Klt points. \n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -c\n\
     Disable the mouse click. Useful to automaze the \n\
     execution of this program without humain intervention.\n\
\n\
  -o\n\
     Use Ogre3D for visibility tests\n\
\n\
  -h \n\
     Print the help.\n\n");

  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}


bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile, std::string &initFile, bool &displayFeatures, bool &click_allowed, bool &display, bool& cao3DModel, bool& trackCylinder, bool &useOgre)
{
  const char *optarg;
  int   c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {

    switch (c) {
    case 'i': ipath = optarg; break;
    case 'x': configFile = optarg; break;
    case 'm': modelFile = optarg; break;
    case 'n': initFile = optarg; break;
    case 't': displayFeatures = false; break;
    case 'f': cao3DModel = true; break;
    case 'c': click_allowed = false; break;
    case 'd': display = false; break;
    case 'C': trackCylinder = false; break;
    case 'o' : useOgre = true; break;
    case 'h': usage(argv[0], NULL); return false; break;

    default:
      usage(argv[0], optarg);
      return false; break;
    }
  }

  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], NULL);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg << std::endl << std::endl;
    return false;
  }

  return true;
}

int
main(int argc, const char ** argv)
{
  std::string env_ipath;
  std::string opt_ipath;
  std::string ipath;
  std::string opt_configFile;
  std::string configFile;
  std::string opt_modelFile;
  std::string modelFile;
  std::string opt_initFile;
  std::string initFile;
  bool displayFeatures = true;
  bool opt_click_allowed = true;
  bool opt_display = true;
  bool cao3DModel = false;
  bool trackCylinder = true;
  bool useOgre = false;
  
  // Get the VISP_IMAGE_PATH environment variable value
  char *ptenv = getenv("VISP_INPUT_IMAGE_PATH");
  if (ptenv != NULL)
    env_ipath = ptenv;

  // Set the default input path
  if (! env_ipath.empty())
    ipath = env_ipath;


  // Read the command line options
  if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayFeatures, opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre)) {
    return (-1);
  }

  // Test if an input path is set
  if (opt_ipath.empty() && env_ipath.empty() ){
    usage(argv[0], NULL);
    std::cerr << std::endl
              << "ERROR:" << std::endl;
    std::cerr << "  Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
              << std::endl
              << "  environment variable to specify the location of the " << std::endl
              << "  image path where test images are located." << std::endl
              << std::endl;

    return (-1);
  }

  // Get the option values
  if (!opt_ipath.empty())
    ipath = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
  else
    ipath = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube/image%04d.pgm");
  
  if (!opt_configFile.empty())
    configFile = opt_configFile;
  else if (!opt_ipath.empty())
    configFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
  else
    configFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube.xml");
  
  if (!opt_modelFile.empty()){
    modelFile = opt_modelFile;
  }else{    
    std::string modelFileCao;
    std::string modelFileWrl;
    if(trackCylinder){
      modelFileCao = "/ViSP-images/mbt/cube_and_cylinder.cao";
      modelFileWrl = "/ViSP-images/mbt/cube_and_cylinder.wrl";
    }else{
      modelFileCao = "/ViSP-images/mbt/cube.cao";
      modelFileWrl = "/ViSP-images/mbt/cube.wrl";
    }

    if(!opt_ipath.empty()){
      if(cao3DModel){
        modelFile = opt_ipath + vpIoTools::path(modelFileCao);
      }
      else{
#ifdef VISP_HAVE_COIN
        modelFile = opt_ipath + vpIoTools::path(modelFileWrl);
#else
        std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
        modelFile = opt_ipath + vpIoTools::path(modelFileCao);
#endif
      }
    }
    else{
      if(cao3DModel){
        modelFile = env_ipath + vpIoTools::path(modelFileCao);
      }
      else{
#ifdef VISP_HAVE_COIN
        modelFile = env_ipath + vpIoTools::path(modelFileWrl);
#else
        std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
        modelFile = env_ipath + vpIoTools::path(modelFileCao);
#endif
      }
    }
  }
  
  if (!opt_initFile.empty())
    initFile = opt_initFile;
  else if (!opt_ipath.empty())
    initFile = opt_ipath + vpIoTools::path("/ViSP-images/mbt/cube");
  else
    initFile = env_ipath + vpIoTools::path("/ViSP-images/mbt/cube");

  vpImage<unsigned char> I;
  vpVideoReader reader;

  reader.setFileName(ipath.c_str());
  try{
    reader.open(I);
  }catch(...){
    std::cout << "Cannot open sequence: " << ipath << std::endl;
    return -1;
  }
  
  reader.acquire(I);

  // initialise a  display
#if defined VISP_HAVE_X11
  vpDisplayX display;
#elif defined VISP_HAVE_GDI
  vpDisplayGDI display;
#elif defined VISP_HAVE_OPENCV
  vpDisplayOpenCV display;
#elif defined VISP_HAVE_D3D9
  vpDisplayD3D display;
#elif defined VISP_HAVE_GTK
  vpDisplayGTK display;
#else
  opt_display = false;
#endif
  if (opt_display)
  {
#if (defined VISP_HAVE_DISPLAY)
    display.init(I, 100, 100, "Test tracking") ;
#endif
    vpDisplay::display(I) ;
    vpDisplay::flush(I);
  }

  vpMbEdgeKltTracker tracker;
  vpHomogeneousMatrix cMo;
  vpCameraParameters cam;

  // Initialise the tracker: camera parameters, moving edge and KLT settings
#if defined (VISP_HAVE_XML2)
  // From the xml file
  tracker.loadConfigFile(configFile.c_str());
#else
  // By setting the parameters:
  cam.initPersProjWithoutDistortion(547, 542, 338, 234);

  vpMe me;
  me.setMaskSize(5);
  me.setMaskNumber(180);
  me.setRange(7);
  me.setThreshold(5000);
  me.setMu1(0.5);
  me.setMu2(0.5);
  me.setMinSampleStep(4);
  me.setNbTotalSample(250);

  vpKltOpencv klt;
  klt.setMaxFeatures(10000);
  klt.setWindowSize(5);
  klt.setQuality(0.01);
  klt.setMinDistance(5);
  klt.setHarrisFreeParameter(0.01);
  klt.setBlockSize(3);
  klt.setPyramidLevels(3);

  tracker.setCameraParameters(cam);
  tracker.setMovingEdge(me);
  tracker.setKltOpencv(klt);
  tracker.setAngleAppear( vpMath::rad(65) );
  tracker.setAngleDisappear( vpMath::rad(75) );
  tracker.setMaskBorder(5);
  
  // Specify the clipping to
  tracker.setNearClippingDistance(0.01);
  tracker.setFarClippingDistance(0.90);
  tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
//   tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING | vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
  
  // Display the moving edges, and the Klt points
  tracker.setDisplayFeatures(displayFeatures);
  
  // Tells if the tracker has to use Ogre3D for visibility tests
  tracker.setOgreVisibilityTest(useOgre);

  // Retrieve the camera parameters from the tracker
  tracker.getCameraParameters(cam);

  // Loop to position the cube
  if (opt_display && opt_click_allowed)
  {
    while(!vpDisplay::getClick(I,false)){
      vpDisplay::display(I);
      vpDisplay::displayCharString(I, 15, 10,
                                   "click after positioning the object",
                                   vpColor::red);
      vpDisplay::flush(I) ;
    }
  }

  // Load the 3D model (either a vrml file or a .cao file)
  try{
    tracker.loadModel(modelFile.c_str());
  }
  catch(...)
  {
    return 0;
  }
  // Initialise the tracker by clicking on the image
  // This function looks for 
  //   - a ./cube/cube.init file that defines the 3d coordinates (in meter, in the object basis) of the points used for the initialisation
  //   - a ./cube/cube.ppm file to display where the user have to click (optionnal, set by the third parameter)
  if (opt_display && opt_click_allowed)
  {
    tracker.initClick(I, initFile.c_str(), true);
    tracker.getPose(cMo);
    // display the 3D model at the given pose
    tracker.display(I,cMo, cam, vpColor::red);
  }
  else
  {
    vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
    tracker.initFromPose(I, cMoi);
  }

  //track the model
  tracker.track(I);
  tracker.getPose(cMo);
  
  if (opt_display)
    vpDisplay::flush(I);

  // Uncomment if you want to compute the covariance matrix.
  // tracker.setCovarianceComputation(true); //Important if you want tracker.getCovarianceMatrix() to work.  
  
  while (!reader.end())
  {
    try
    {
      // acquire a new image 
      reader.acquire(I);
      // display the image
      if (opt_display)
        vpDisplay::display(I);
      // track the object
      tracker.track(I);
      tracker.getPose(cMo);
      // display the 3D model  
      if (opt_display)
      {
        tracker.display(I, cMo, cam, vpColor::darkRed);
        // display the frame
        vpDisplay::displayFrame (I, cMo, cam, 0.05, vpColor::blue);
      }
      
      // Uncomment if you want to print the covariance matrix. 
      // Make sure tracker.setCovarianceComputation(true) has been called (uncomment below).
      // std::cout << tracker.getCovarianceMatrix() << std::endl << std::endl;
      
    }
    catch(...)
    {
      std::cout << "error caught" << std::endl;
      break;
    }
    vpDisplay::flush(I) ;
  }
  reader.close();

#if defined (VISP_HAVE_XML2)
  // Cleanup memory allocated by xml library used to parse the xml config file in vpMbEdgeKltTracker::loadConfigFile()
  vpXmlParser::cleanup();
#endif

#ifdef VISP_HAVE_COIN
  // Cleanup memory allocated by Coin library used to load a vrml model in vpMbEdgeKltTracker::loadModel()
  SoDB::finish();
#endif

  return 0;
}

#else

int main()
{
  std::cout << "OpenCV and display are required." << std::endl;
  return 0;
}

#endif