ViSP  2.9.0
mbtEdgeKltTracking.cpp

Example of Hybrid Tracking of MBT and MBT KTL on an image sequence containing a cube.

/****************************************************************************
*
* $Id: mbtTracking.cpp 3957 2012-11-07 15:22:30Z fnovotny $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2014 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);
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);
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)
{
try {
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)
tracker.loadModel(modelFile.c_str());
// 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())
{
// 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;
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;
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
return 1;
}
}
#else
int main()
{
std::cout << "OpenCV and display are required." << std::endl;
return 0;
}
#endif