Visual Servoing Platform  version 3.4.0
testGenericTrackerDepth.cpp

Regression test for depth MBT.

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 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 as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* 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://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* 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:
* Regression test for depth MBT.
*
*****************************************************************************/
#include <cstdlib>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_MODULE_MBT) \
&& (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
#include <type_traits>
#endif
#include <visp3/core/vpIoTools.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#define GETOPTARGS "i:dcle:mCh"
namespace
{
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Regression test for vpGenericTracker and depth.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-c] [-d] [-h] [-l] \n\
[-e <last frame index>] [-m] [-C]\n", name);
fprintf(stdout, "\n\
OPTIONS: \n\
-i <input image path> \n\
Set image input path.\n\
These 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 behavior than using\n\
this option.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-l\n\
Use the scanline for visibility tests.\n\
\n\
-e <last frame index>\n\
Specify the index of the last frame. Once reached, the tracking is stopped.\n\
\n\
-m \n\
Set a tracking mask.\n\
\n\
-C \n\
Use color images.\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, bool &click_allowed, bool &display,
bool &useScanline, int &lastFrame, bool &use_mask, bool &use_color_image)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'l':
useScanline = true;
break;
case 'e':
lastFrame = atoi(optarg_);
break;
case 'm':
use_mask = true;
break;
case 'C':
use_color_image = 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;
}
template <typename Type>
bool read_data(const std::string &input_directory, int cpt, const vpCameraParameters &cam_depth,
vpImage<Type> &I, vpImage<uint16_t> &I_depth,
std::vector<vpColVector> &pointcloud, vpHomogeneousMatrix &cMo)
{
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
"Template function supports only unsigned char and vpRGBa images!");
#endif
char buffer[256];
sprintf(buffer, std::string(input_directory + "/Images/Image_%04d.pgm").c_str(), cpt);
std::string image_filename = buffer;
sprintf(buffer, std::string(input_directory + "/Depth/Depth_%04d.bin").c_str(), cpt);
std::string depth_filename = buffer;
sprintf(buffer, std::string(input_directory + "/CameraPose/Camera_%03d.txt").c_str(), cpt);
std::string pose_filename = buffer;
if (!vpIoTools::checkFilename(image_filename) || !vpIoTools::checkFilename(depth_filename)
|| !vpIoTools::checkFilename(pose_filename))
return false;
vpImageIo::read(I, image_filename);
unsigned int depth_width = 0, depth_height = 0;
std::ifstream file_depth(depth_filename.c_str(), std::ios::in | std::ios::binary);
if (!file_depth.is_open())
return false;
vpIoTools::readBinaryValueLE(file_depth, depth_height);
vpIoTools::readBinaryValueLE(file_depth, depth_width);
I_depth.resize(depth_height, depth_width);
pointcloud.resize(depth_height*depth_width);
const float depth_scale = 0.000030518f;
for (unsigned int i = 0; i < I_depth.getHeight(); i++) {
for (unsigned int j = 0; j < I_depth.getWidth(); j++) {
vpIoTools::readBinaryValueLE(file_depth, I_depth[i][j]);
double x = 0.0, y = 0.0, Z = I_depth[i][j] * depth_scale;
vpPixelMeterConversion::convertPoint(cam_depth, j, i, x, y);
vpColVector pt3d(4, 1.0);
pt3d[0] = x*Z;
pt3d[1] = y*Z;
pt3d[2] = Z;
pointcloud[i*I_depth.getWidth()+j] = pt3d;
}
}
std::ifstream file_pose(pose_filename.c_str());
if (!file_pose.is_open()) {
return false;
}
for (unsigned int i = 0; i < 4; i++) {
for (unsigned int j = 0; j < 4; j++) {
file_pose >> cMo[i][j];
}
}
return true;
}
template <typename Type>
bool run(vpImage<Type> &I, const std::string &input_directory, bool opt_click_allowed,
bool opt_display, bool useScanline, int opt_lastFrame, bool use_mask) {
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
static_assert(std::is_same<Type, unsigned char>::value || std::is_same<Type, vpRGBa>::value,
"Template function supports only unsigned char and vpRGBa images!");
#endif
// Initialise a display
#if defined VISP_HAVE_X11
vpDisplayX display1, display2;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display1, display2;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV display1, display2;
#elif defined VISP_HAVE_D3D9
vpDisplayD3D display1, display2;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display1, display2;
#else
opt_display = false;
#endif
std::vector<int> tracker_type;
tracker_type.push_back(vpMbGenericTracker::DEPTH_DENSE_TRACKER);
vpMbGenericTracker tracker(tracker_type);
tracker.loadConfigFile(input_directory + "/Config/chateau_depth.xml");
#if 0
// Corresponding parameters manually set to have an example code
{
vpCameraParameters cam_depth;
cam_depth.initPersProjWithoutDistortion(700.0, 700.0, 320.0, 240.0);
tracker.setCameraParameters(cam_depth);
}
// Depth
tracker.setDepthNormalFeatureEstimationMethod(vpMbtFaceDepthNormal::ROBUST_FEATURE_ESTIMATION);
tracker.setDepthNormalPclPlaneEstimationMethod(2);
tracker.setDepthNormalPclPlaneEstimationRansacMaxIter(200);
tracker.setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
tracker.setDepthNormalSamplingStep(2, 2);
tracker.setDepthDenseSamplingStep(4, 4);
#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
tracker.setKltMaskBorder(5);
#endif
tracker.setAngleAppear(vpMath::rad(85.0));
tracker.setAngleDisappear(vpMath::rad(89.0));
tracker.setNearClippingDistance(0.01);
tracker.setFarClippingDistance(2.0);
tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
#endif
tracker.loadModel(input_directory + "/Models/chateau.cao");
vpHomogeneousMatrix T;
T[0][0] = -1;
T[0][3] = -0.2;
T[1][1] = 0;
T[1][2] = 1;
T[1][3] = 0.12;
T[2][1] = 1;
T[2][2] = 0;
T[2][3] = -0.15;
tracker.loadModel(input_directory + "/Models/cube.cao", false, T);
vpCameraParameters cam_depth;
tracker.getCameraParameters(cam_depth);
tracker.setDisplayFeatures(true);
tracker.setScanLineVisibilityTest(useScanline);
vpImage<uint16_t> I_depth_raw;
vpImage<vpRGBa> I_depth;
vpHomogeneousMatrix cMo_truth;
std::vector<vpColVector> pointcloud;
int cpt_frame = 1;
if (!read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth)) {
std::cerr << "Cannot read first frame!" << std::endl;
return EXIT_FAILURE;
}
vpImage<bool> mask(I.getHeight(), I.getWidth());
const double roi_step = 7.0;
const double roi_step2 = 6.0;
if (use_mask) {
mask = false;
for (unsigned int i = (unsigned int) (I.getRows()/roi_step); i < (unsigned int) (I.getRows()*roi_step2/roi_step); i++) {
for (unsigned int j = (unsigned int) (I.getCols()/roi_step); j < (unsigned int) (I.getCols()*roi_step2/roi_step); j++) {
mask[i][j] = true;
}
}
tracker.setMask(mask);
}
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
if (opt_display) {
#ifdef VISP_HAVE_DISPLAY
display1.init(I, 0, 0, "Image");
display2.init(I_depth, (int)I.getWidth(), 0, "Depth");
#endif
}
vpHomogeneousMatrix depth_M_color;
depth_M_color[0][3] = -0.05;
tracker.initFromPose(I, depth_M_color*cMo_truth);
bool click = false, quit = false, correct_accuracy = true;
std::vector<double> vec_err_t, vec_err_tu;
std::vector<double> time_vec;
while (read_data(input_directory, cpt_frame, cam_depth, I, I_depth_raw, pointcloud, cMo_truth) && !quit
&& (opt_lastFrame > 0 ? (int)cpt_frame <= opt_lastFrame : true)) {
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
if (opt_display) {
vpDisplay::display(I);
vpDisplay::display(I_depth);
}
double t = vpTime::measureTimeMs();
std::map<std::string, const vpImage<Type> *> mapOfImages;
std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
mapOfPointclouds["Camera"] = &pointcloud;
std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
mapOfWidths["Camera"] = I_depth.getWidth();
mapOfHeights["Camera"] = I_depth.getHeight();
tracker.track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
vpHomogeneousMatrix cMo = tracker.getPose();
t = vpTime::measureTimeMs() - t;
time_vec.push_back(t);
if (opt_display) {
tracker.display(I_depth, cMo, cam_depth, vpColor::red, 3);
vpDisplay::displayFrame(I_depth, cMo, cam_depth, 0.05, vpColor::none, 3);
std::stringstream ss;
ss << "Frame: " << cpt_frame;
vpDisplay::displayText(I_depth, 20, 20, ss.str(), vpColor::red);
ss.str("");
ss << "Nb features: " << tracker.getError().getRows();
vpDisplay::displayText(I_depth, 40, 20, ss.str(), vpColor::red);
}
vpPoseVector pose_est(cMo);
vpPoseVector pose_truth(depth_M_color*cMo_truth);
vpColVector t_est(3), t_truth(3);
vpColVector tu_est(3), tu_truth(3);
for (unsigned int i = 0; i < 3; i++) {
t_est[i] = pose_est[i];
t_truth[i] = pose_truth[i];
tu_est[i] = pose_est[i+3];
tu_truth[i] = pose_truth[i+3];
}
vpColVector t_err = t_truth-t_est, tu_err = tu_truth-tu_est;
double t_err2 = sqrt(t_err.sumSquare()), tu_err2 = vpMath::deg(sqrt(tu_err.sumSquare()));
vec_err_t.push_back( t_err2 );
vec_err_tu.push_back( tu_err2 );
const double t_thresh = useScanline ? 0.003 : 0.002;
const double tu_thresh = useScanline ? 0.5 : 0.4;
if ( !use_mask && (t_err2 > t_thresh || tu_err2 > tu_thresh) ) { //no accuracy test with mask
std::cerr << "Pose estimated exceeds the threshold (t_thresh = " << t_thresh << ", tu_thresh = " << tu_thresh << ")!" << std::endl;
std::cout << "t_err: " << t_err2 << " ; tu_err: " << tu_err2 << std::endl;
correct_accuracy = false;
}
if (opt_display) {
if (use_mask) {
vpRect roi(vpImagePoint(I.getRows()/roi_step, I.getCols()/roi_step),
vpImagePoint(I.getRows()*roi_step2/roi_step, I.getCols()*roi_step2/roi_step));
vpDisplay::displayRectangle(I_depth, roi, vpColor::yellow);
}
vpDisplay::flush(I);
vpDisplay::flush(I_depth);
}
if (opt_display && opt_click_allowed) {
vpMouseButton::vpMouseButtonType button;
if (vpDisplay::getClick(I, button, click)) {
switch (button) {
case vpMouseButton::button1:
quit = !click;
break;
case vpMouseButton::button3:
click = !click;
break;
default:
break;
}
}
}
cpt_frame++;
}
if (!time_vec.empty())
std::cout << "Computation time, Mean: " << vpMath::getMean(time_vec) << " ms ; Median: " << vpMath::getMedian(time_vec)
<< " ms ; Std: " << vpMath::getStdev(time_vec) << " ms" << std::endl;
if (!vec_err_t.empty())
std::cout << "Max translation error: " << *std::max_element(vec_err_t.begin(), vec_err_t.end()) << std::endl;
if (!vec_err_tu.empty())
std::cout << "Max thetau error: " << *std::max_element(vec_err_tu.begin(), vec_err_tu.end()) << std::endl;
return correct_accuracy ? EXIT_SUCCESS : EXIT_FAILURE;
}
}
int main(int argc, const char *argv[])
{
try {
std::string env_ipath;
std::string opt_ipath = "";
bool opt_click_allowed = true;
bool opt_display = true;
bool useScanline = false;
#if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
// To avoid Debian test timeout
int opt_lastFrame = 5;
#else
int opt_lastFrame = -1;
#endif
bool use_mask = false;
bool use_color_image = false;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
env_ipath = vpIoTools::getViSPImagesDataPath();
// Read the command line options
if (!getOptions(argc, argv, opt_ipath, opt_click_allowed, opt_display,
useScanline, opt_lastFrame, use_mask, use_color_image)) {
return EXIT_FAILURE;
}
std::cout << "useScanline: " << useScanline << std::endl;
std::cout << "use_mask: " << use_mask << std::endl;
std::cout << "use_color_image: " << use_color_image << std::endl;
// 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 EXIT_FAILURE;
}
std::string input_directory = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/Castle-simu");
if (!vpIoTools::checkDirectory(input_directory)) {
std::cerr << "ViSP-images does not contain the folder: " << input_directory << "!" << std::endl;
return EXIT_SUCCESS;
}
if (use_color_image) {
vpImage<vpRGBa> I_color;
return run(I_color, input_directory, opt_click_allowed, opt_display, useScanline, opt_lastFrame, use_mask);
} else {
vpImage<unsigned char> I_gray;
return run(I_gray, input_directory, opt_click_allowed, opt_display, useScanline, opt_lastFrame, use_mask);
}
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#elif !(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
int main() {
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
return EXIT_SUCCESS;
}
#else
int main() {
std::cout << "Enable MBT module (VISP_HAVE_MODULE_MBT) to launch this test." << std::endl;
return EXIT_SUCCESS;
}
#endif