Visual Servoing Platform  version 3.0.0
tutorial-mb-tracker.cpp
1 #include <visp3/gui/vpDisplayGDI.h>
3 #include <visp3/gui/vpDisplayOpenCV.h>
4 #include <visp3/gui/vpDisplayX.h>
5 #include <visp3/io/vpImageIo.h>
6 #include <visp3/core/vpIoTools.h>
8 #include <visp3/mbt/vpMbEdgeTracker.h>
9 #include <visp3/mbt/vpMbEdgeKltTracker.h>
11 #include <visp3/io/vpVideoReader.h>
12 
13 int main(int argc, char** argv)
14 {
15 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
16 
17  try {
18  std::string opt_videoname = "teabox.mpg";
19  int opt_tracker = 0;
20 
21  for (int i=0; i<argc; i++) {
22  if (std::string(argv[i]) == "--name")
23  opt_videoname = std::string(argv[i+1]);
24  if (std::string(argv[i]) == "--tracker")
25  opt_tracker = atoi(argv[i+1]);
26  else if (std::string(argv[i]) == "--help") {
27  std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n" << std::endl;
28  return 0;
29  }
30  }
31  std::string parentname = vpIoTools::getParent(opt_videoname);
32  std::string objectname = vpIoTools::getNameWE(opt_videoname);
33 
34  if(! parentname.empty())
35  objectname = parentname + "/" + objectname;
36 
37  std::cout << "Video name: " << opt_videoname << std::endl;
38  std::cout << "Tracker requested config files: " << objectname
39  << ".[init, cao]" << std::endl;
40  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
41 
49 
50  vpVideoReader g;
51  g.setFileName(opt_videoname);
52  g.open(I);
53 
54  vpDisplay *display = NULL;
55 #if defined(VISP_HAVE_X11)
56  display = new vpDisplayX;
57 #elif defined(VISP_HAVE_GDI)
58  display = new vpDisplayGDI;
59 #else
60  display = new vpDisplayOpenCV;
61 #endif
62  display->init(I, 100, 100, "Model-based tracker");
63 
65  vpMbTracker *tracker;
66  if (opt_tracker == 0)
67  tracker = new vpMbEdgeTracker;
68 #ifdef VISP_HAVE_MODULE_KLT
69  else if (opt_tracker == 1)
70  tracker = new vpMbKltTracker;
71  else
72  tracker = new vpMbEdgeKltTracker;
73 #else
74  else {
75  std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is missing" << std::endl;
76  return 0;
77  }
78 #endif
79 
82  if (opt_tracker == 0 || opt_tracker == 2) {
83  vpMe me;
84  me.setMaskSize(5);
85  me.setMaskNumber(180);
86  me.setRange(8);
87  me.setThreshold(10000);
88  me.setMu1(0.5);
89  me.setMu2(0.5);
90  me.setSampleStep(4);
91  dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
92  }
93 
94 #ifdef VISP_HAVE_MODULE_KLT
95  if (opt_tracker == 1 || opt_tracker == 2) {
96  vpKltOpencv klt_settings;
97  klt_settings.setMaxFeatures(300);
98  klt_settings.setWindowSize(5);
99  klt_settings.setQuality(0.015);
100  klt_settings.setMinDistance(8);
101  klt_settings.setHarrisFreeParameter(0.01);
102  klt_settings.setBlockSize(3);
103  klt_settings.setPyramidLevels(3);
104  dynamic_cast<vpMbKltTracker*>(tracker)->setKltOpencv(klt_settings);
105  dynamic_cast<vpMbKltTracker*>(tracker)->setMaskBorder(5);
106  }
107 #endif
108 
110  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
112  tracker->setCameraParameters(cam);
114 
116  tracker->loadModel(objectname + ".cao");
119  tracker->setDisplayFeatures(true);
122  tracker->initClick(I, objectname + ".init", true);
124 
125  while(! g.end()){
126  g.acquire(I);
129  tracker->track(I);
132  tracker->getPose(cMo);
135  tracker->getCameraParameters(cam);
136  tracker->display(I, cMo, cam, vpColor::red, 2, true);
138  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
139  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
140  vpDisplay::flush(I);
141 
142  if (vpDisplay::getClick(I, false))
143  break;
144  }
147  delete display;
148  delete tracker;
150  }
151  catch(vpException e) {
152  std::cout << "Catch a ViSP exception: " << e << std::endl;
153  }
154 #else
155  (void)argc;
156  (void)argv;
157  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
158 #endif
159 }
virtual void init(vpImage< unsigned char > &I, int x=-1, int y=-1, const char *title=NULL)=0
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:170
virtual void track(const vpImage< unsigned char > &I)=0
void setHarrisFreeParameter(double harris_k)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:460
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
void setMaxFeatures(const int maxCount)
void setSampleStep(const double &s)
Definition: vpMe.h:260
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay.cpp:888
Define the X11 console to display images.
Definition: vpDisplayX.h:148
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
static const vpColor none
Definition: vpColor.h:175
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
Definition: vpException.h:73
Definition: vpMe.h:59
Make the complete tracking of an object by using its CAD model.
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1240
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:2233
void setMu1(const double &mu_1)
Definition: vpMe.h:160
static const vpColor red
Definition: vpColor.h:163
void setQuality(double qualityLevel)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< vpRGBa > &I)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)=0
virtual void setCameraParameters(const vpCameraParameters &camera)
Definition: vpMbTracker.h:437
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:468
void getPose(vpHomogeneousMatrix &cMo_) const
Definition: vpMbTracker.h:356
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay.cpp:206
The vpDisplayOpenCV allows to display image using the opencv library.
virtual void getCameraParameters(vpCameraParameters &camera) const
Definition: vpMbTracker.h:225
Generic class defining intrinsic camera parameters.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:103
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
Model based tracker using only KLT.
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
void setPyramidLevels(const int pyrMaxLevel)
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
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, vpImagePoint offset=vpImagePoint(0, 0))
Definition: vpDisplay.cpp:373
void setMu2(const double &mu_2)
Definition: vpMe.h:174
void setWindowSize(const int winSize)
virtual void loadModel(const char *modelFile, const bool verbose=false)
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1227
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV.
Definition: vpKltOpencv.h:75
void setBlockSize(const int blockSize)
void setThreshold(const double &t)
Definition: vpMe.h:288
virtual bool getClick(bool blocking=true)=0
void setDisplayFeatures(const bool displayF)
Definition: vpMbTracker.h:459
void setRange(const unsigned int &r)
Definition: vpMe.h:218