44 #include <visp3/core/vpConfig.h> 46 #if defined(VISP_HAVE_MODULE_MBT) 48 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) 49 #include <type_traits> 52 #include <visp3/core/vpIoTools.h> 53 #include <visp3/io/vpParseArgv.h> 54 #include <visp3/io/vpImageIo.h> 55 #include <visp3/gui/vpDisplayX.h> 56 #include <visp3/gui/vpDisplayGDI.h> 57 #include <visp3/gui/vpDisplayOpenCV.h> 58 #include <visp3/gui/vpDisplayD3D.h> 59 #include <visp3/gui/vpDisplayGTK.h> 60 #include <visp3/mbt/vpMbGenericTracker.h> 62 #define GETOPTARGS "i:dcle:mCh" 66 void usage(
const char *name,
const char *badparam)
69 Regression test for vpGenericTracker and depth.\n\ 72 %s [-i <test image path>] [-c] [-d] [-h] [-l] \n\ 73 [-e <last frame index>] [-m] [-C]\n", name);
77 -i <input image path> \n\ 78 Set image input path.\n\ 79 These images come from ViSP-images-x.y.z.tar.gz available \n\ 80 on the ViSP website.\n\ 81 Setting the VISP_INPUT_IMAGE_PATH environment\n\ 82 variable produces the same behavior than using\n\ 86 Turn off the display.\n\ 89 Disable the mouse click. Useful to automate the \n\ 90 execution of this program without human intervention.\n\ 93 Use the scanline for visibility tests.\n\ 95 -e <last frame index>\n\ 96 Specify the index of the last frame. Once reached, the tracking is stopped.\n\ 99 Set a tracking mask.\n\ 105 Print the help.\n\n");
108 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
111 bool getOptions(
int argc,
const char **argv, std::string &ipath,
bool &click_allowed,
bool &display,
112 bool &useScanline,
int &lastFrame,
bool &use_mask,
bool &use_color_image)
123 click_allowed =
false;
132 lastFrame = atoi(optarg_);
138 use_color_image =
true;
141 usage(argv[0], NULL);
146 usage(argv[0], optarg_);
152 if ((c == 1) || (c == -1)) {
154 usage(argv[0], NULL);
155 std::cerr <<
"ERROR: " << std::endl;
156 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
163 template <
typename Type>
164 bool read_data(
const std::string &input_directory,
int cpt,
const vpCameraParameters &cam_depth,
168 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) 169 static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
170 "Template function supports only unsigned char and vpRGBa images!");
173 sprintf(buffer, std::string(input_directory +
"/Images/Image_%04d.pgm").c_str(), cpt);
174 std::string image_filename = buffer;
176 sprintf(buffer, std::string(input_directory +
"/Depth/Depth_%04d.bin").c_str(), cpt);
177 std::string depth_filename = buffer;
179 sprintf(buffer, std::string(input_directory +
"/CameraPose/Camera_%03d.txt").c_str(), cpt);
180 std::string pose_filename = buffer;
188 unsigned int depth_width = 0, depth_height = 0;
189 std::ifstream file_depth(depth_filename.c_str(), std::ios::in | std::ios::binary);
190 if (!file_depth.is_open())
195 I_depth.
resize(depth_height, depth_width);
196 pointcloud.resize(depth_height*depth_width);
198 const float depth_scale = 0.000030518f;
199 for (
unsigned int i = 0; i < I_depth.
getHeight(); i++) {
200 for (
unsigned int j = 0; j < I_depth.
getWidth(); j++) {
202 double x = 0.0, y = 0.0, Z = I_depth[i][j] * depth_scale;
208 pointcloud[i*I_depth.
getWidth()+j] = pt3d;
212 std::ifstream file_pose(pose_filename.c_str());
213 if (!file_pose.is_open()) {
217 for (
unsigned int i = 0; i < 4; i++) {
218 for (
unsigned int j = 0; j < 4; j++) {
219 file_pose >> cMo[i][j];
226 template <
typename Type>
227 bool run(
vpImage<Type> &I,
const std::string &input_directory,
bool opt_click_allowed,
228 bool opt_display,
bool useScanline,
int opt_lastFrame,
bool use_mask) {
229 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11) 230 static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
231 "Template function supports only unsigned char and vpRGBa images!");
234 #if defined VISP_HAVE_X11 236 #elif defined VISP_HAVE_GDI 238 #elif defined VISP_HAVE_OPENCV 240 #elif defined VISP_HAVE_D3D9 242 #elif defined VISP_HAVE_GTK 248 std::vector<int> tracker_type;
251 #if defined(VISP_HAVE_PUGIXML) 252 tracker.loadConfigFile(input_directory +
"/Config/chateau_depth.xml");
257 tracker.setCameraParameters(cam_depth);
261 tracker.setDepthNormalPclPlaneEstimationMethod(2);
262 tracker.setDepthNormalPclPlaneEstimationRansacMaxIter(200);
263 tracker.setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
264 tracker.setDepthNormalSamplingStep(2, 2);
266 tracker.setDepthDenseSamplingStep(4, 4);
268 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)) 269 tracker.setKltMaskBorder(5);
274 tracker.setNearClippingDistance(0.01);
275 tracker.setFarClippingDistance(2.0);
278 tracker.loadModel(input_directory +
"/Models/chateau.cao");
288 tracker.loadModel(input_directory +
"/Models/cube.cao",
false, T);
290 tracker.getCameraParameters(cam_depth);
291 tracker.setDisplayFeatures(
true);
292 tracker.setScanLineVisibilityTest(useScanline);
297 std::vector<vpColVector> pointcloud;
299 if (!read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth)) {
300 std::cerr <<
"Cannot read first frame!" << std::endl;
305 const double roi_step = 7.0;
306 const double roi_step2 = 6.0;
309 for (
unsigned int i = (
unsigned int) (I.
getRows()/roi_step); i < (
unsigned int) (I.
getRows()*roi_step2/roi_step); i++) {
310 for (
unsigned int j = (
unsigned int) (I.
getCols()/roi_step); j < (
unsigned int) (I.
getCols()*roi_step2/roi_step); j++) {
314 tracker.setMask(mask);
319 #ifdef VISP_HAVE_DISPLAY 320 display1.
init(I, 0, 0,
"Image");
326 depth_M_color[0][3] = -0.05;
327 tracker.initFromPose(I, depth_M_color*cMo_truth);
329 bool click =
false, quit =
false;
330 std::vector<double> vec_err_t, vec_err_tu;
331 std::vector<double> time_vec;
332 while (read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth) && !quit
333 && (opt_lastFrame > 0 ? (
int)cpt_frame <= opt_lastFrame :
true)) {
342 std::map<std::string, const vpImage<Type> *> mapOfImages;
343 std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
344 mapOfPointclouds[
"Camera"] = &pointcloud;
345 std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
346 mapOfWidths[
"Camera"] = I_depth.
getWidth();
347 mapOfHeights[
"Camera"] = I_depth.
getHeight();
349 tracker.track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
352 time_vec.push_back(t);
355 tracker.display(I_depth, cMo, cam_depth,
vpColor::red, 3);
358 std::stringstream ss;
359 ss <<
"Frame: " << cpt_frame;
362 ss <<
"Nb features: " << tracker.getError().getRows();
370 for (
unsigned int i = 0; i < 3; i++) {
371 t_est[i] = pose_est[i];
372 t_truth[i] = pose_truth[i];
373 tu_est[i] = pose_est[i+3];
374 tu_truth[i] = pose_truth[i+3];
377 vpColVector t_err = t_truth-t_est, tu_err = tu_truth-tu_est;
379 vec_err_t.push_back( t_err2 );
380 vec_err_tu.push_back( tu_err2 );
381 const double t_thresh = useScanline ? 0.003 : 0.002;
382 const double tu_thresh = useScanline ? 0.5 : 0.4;
383 if ( !use_mask && (t_err2 > t_thresh || tu_err2 > tu_thresh) ) {
384 std::cerr <<
"Pose estimated exceeds the threshold (t_thresh = 0.003, tu_thresh = 0.5)!" << std::endl;
385 std::cout <<
"t_err: " << sqrt(t_err.
sumSquare()) <<
" ; tu_err: " <<
vpMath::deg(sqrt(tu_err.sumSquare())) << std::endl;
401 if (opt_display && opt_click_allowed) {
422 if (!time_vec.empty())
426 if (!vec_err_t.empty())
427 std::cout <<
"Max translation error: " << *std::max_element(vec_err_t.begin(), vec_err_t.end()) << std::endl;
429 if (!vec_err_tu.empty())
430 std::cout <<
"Max thetau error: " << *std::max_element(vec_err_tu.begin(), vec_err_tu.end()) << std::endl;
436 int main(
int argc,
const char *argv[])
439 std::string env_ipath;
440 std::string opt_ipath =
"";
441 bool opt_click_allowed =
true;
442 bool opt_display =
true;
443 bool useScanline =
false;
444 #if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__) 446 int opt_lastFrame = 5;
448 int opt_lastFrame = -1;
450 bool use_mask =
false;
451 bool use_color_image =
false;
458 if (!getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display,
459 useScanline, opt_lastFrame, use_mask, use_color_image)) {
463 std::cout <<
"useScanline: " << useScanline << std::endl;
464 std::cout <<
"use_mask: " << use_mask << std::endl;
465 std::cout <<
"use_color_image: " << use_color_image << std::endl;
468 if (opt_ipath.empty() && env_ipath.empty()) {
469 usage(argv[0], NULL);
470 std::cerr << std::endl <<
"ERROR:" << std::endl;
471 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
472 <<
" environment variable to specify the location of the " << std::endl
473 <<
" image path where test images are located." << std::endl
479 std::string input_directory =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath,
"mbt-depth/Castle-simu");
481 std::cerr <<
"ViSP-images does not contain the folder: " << input_directory <<
"!" << std::endl;
485 if (use_color_image) {
487 return run(I_color, input_directory, opt_click_allowed, opt_display, useScanline, opt_lastFrame, use_mask);
490 return run(I_gray, input_directory, opt_click_allowed, opt_display, useScanline, opt_lastFrame, use_mask);
493 std::cout <<
"Catch an exception: " << e << std::endl;
499 std::cout <<
"Enable MBT module (VISP_HAVE_MODULE_MBT) to launch this test." << std::endl;
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Implementation of an homogeneous matrix and operations on such kind of matrices.
unsigned int getRows() const
static double getMedian(const std::vector< double > &v)
Display for windows using GDI (available on any windows 32 platform).
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static const vpColor none
error that can be emited by ViSP classes.
static void convertPoint(const vpCameraParameters &cam, const double &u, const double &v, double &x, double &y)
Real-time 6D object pose tracking using its CAD model.
static void flush(const vpImage< unsigned char > &I)
VISP_EXPORT double measureTimeMs()
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
static double getMean(const std::vector< double > &v)
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
unsigned int getCols() const
Generic class defining intrinsic camera parameters.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
static void displayRectangle(const vpImage< unsigned char > &I, const vpImagePoint &topLeft, unsigned int width, unsigned int height, const vpColor &color, bool fill=false, unsigned int thickness=1)
static double rad(double deg)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
static double deg(double rad)
unsigned int getHeight() const
static void read(vpImage< unsigned char > &I, const std::string &filename)
Implementation of column vector and the associated operations.
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))
Implementation of a pose vector and operations on poses.
Defines a rectangle in the plane.
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
static const vpColor yellow
unsigned int getWidth() const
Definition of the vpImage class member functions.
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)