Visual Servoing Platform  version 3.5.0 under development (2022-02-15)
mbtGenericTrackingDepth.cpp
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  * Example of tracking with vpGenericTracker on Castel.
33  *
34  *****************************************************************************/
35 
42 #include <cstdlib>
43 #include <iostream>
44 #include <visp3/core/vpConfig.h>
45 
46 #if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) \
47  && (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
48 
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpIoTools.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/gui/vpDisplayGDI.h>
55 #include <visp3/gui/vpDisplayGTK.h>
56 #include <visp3/gui/vpDisplayOpenCV.h>
57 #include <visp3/gui/vpDisplayX.h>
58 #include <visp3/io/vpImageIo.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/io/vpVideoReader.h>
61 #include <visp3/mbt/vpMbGenericTracker.h>
62 
63 #define GETOPTARGS "x:X:m:M:i:n:dchfolwvpt:T:e:"
64 
65 #define USE_XML 1
66 #define USE_SMALL_DATASET 1 // small depth dataset in ViSP-images
67 
68 namespace
69 {
70 void usage(const char *name, const char *badparam)
71 {
72  fprintf(stdout, "\n\
73  Example of tracking with vpGenericTracker.\n\
74  \n\
75  SYNOPSIS\n\
76  %s [-i <test image path>] [-x <config file>] [-X <config file depth>]\n\
77  [-m <model name>] [-M <model name depth>] [-n <initialisation file base name>]\n\
78  [-f] [-c] [-d] [-h] [-o] [-w] [-l] [-v] [-p]\n\
79  [-t <tracker type>] [-T <tracker type>] [-e <last frame index>]\n", name);
80 
81  fprintf(stdout, "\n\
82  OPTIONS: \n\
83  -i <input image path> \n\
84  Set image input path.\n\
85  These images come from ViSP-images-x.y.z.tar.gz available \n\
86  on the ViSP website.\n\
87  Setting the VISP_INPUT_IMAGE_PATH environment\n\
88  variable produces the same behavior than using\n\
89  this option.\n\
90  \n\
91  -x <config file> \n\
92  Set the config file (the xml file) to use.\n\
93  The config file is used to specify the parameters of the tracker.\n\
94  \n\
95  -X <config file> \n\
96  Set the config file (the xml file) to use for the depth sensor.\n\
97  The config file is used to specify the parameters of the tracker.\n\
98  \n\
99  -m <model name> \n\
100  Specify the name of the file of the model.\n\
101  The model can either be a vrml model (.wrl) or a .cao file.\n\
102  \n\
103  -M <model name> \n\
104  Specify the name of the file of the model for the depth sensor.\n\
105  The model can either be a vrml model (.wrl) or a .cao file.\n\
106  \n\
107  -n <initialisation file base name> \n\
108  Base name of the initialisation file. The file will be 'base_name'.init .\n\
109  This base name is also used for the optional picture specifying where to \n\
110  click (a .ppm picture).\n\
111  \n\
112  -f \n\
113  Turn off the display of the the moving edges and Klt points. \n\
114  \n\
115  -d \n\
116  Turn off the display.\n\
117  \n\
118  -c\n\
119  Disable the mouse click. Useful to automate the \n\
120  execution of this program without human intervention.\n\
121  \n\
122  -o\n\
123  Use Ogre3D for visibility tests\n\
124  \n\
125  -w\n\
126  When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
127  \n\
128  -l\n\
129  Use the scanline for visibility tests.\n\
130  \n\
131  -v\n\
132  Compute covariance matrix.\n\
133  \n\
134  -p\n\
135  Compute gradient projection error.\n\
136  \n\
137  -t <tracker type>\n\
138  Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (both)>) for color sensor.\n\
139  \n\
140  -T <tracker type>\n\
141  Set tracker type (<4 (Depth normal)>, <8 (Depth dense)>, <12 (both)>) for depth sensor.\n\
142  \n\
143  -e <last frame index>\n\
144  Specify the index of the last frame. Once reached, the tracking is stopped.\n\
145  \n\
146  -h \n\
147  Print the help.\n\n");
148 
149  if (badparam)
150  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
151 }
152 
153 bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &configFile_depth,
154  std::string &modelFile, std::string &modelFile_depth, std::string &initFile, bool &displayFeatures,
155  bool &click_allowed, bool &display, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline,
156  bool &computeCovariance, bool &projectionError, int &trackerType, int &tracker_type_depth,
157  int &lastFrame)
158 {
159  const char *optarg_;
160  int c;
161  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
162 
163  switch (c) {
164  case 'i':
165  ipath = optarg_;
166  break;
167  case 'x':
168  configFile = optarg_;
169  break;
170  case 'X':
171  configFile_depth = optarg_;
172  break;
173  case 'm':
174  modelFile = optarg_;
175  break;
176  case 'M':
177  modelFile_depth = optarg_;
178  break;
179  case 'n':
180  initFile = optarg_;
181  break;
182  case 'f':
183  displayFeatures = false;
184  break;
185  case 'c':
186  click_allowed = false;
187  break;
188  case 'd':
189  display = false;
190  break;
191  case 'o':
192  useOgre = true;
193  break;
194  case 'l':
195  useScanline = true;
196  break;
197  case 'w':
198  showOgreConfigDialog = true;
199  break;
200  case 'v':
201  computeCovariance = true;
202  break;
203  case 'p':
204  projectionError = true;
205  break;
206  case 't':
207  trackerType = atoi(optarg_);
208  break;
209  case 'T':
210  tracker_type_depth = atoi(optarg_);
211  break;
212  case 'e':
213  lastFrame = atoi(optarg_);
214  break;
215  case 'h':
216  usage(argv[0], NULL);
217  return false;
218  break;
219 
220  default:
221  usage(argv[0], optarg_);
222  return false;
223  break;
224  }
225  }
226 
227  if ((c == 1) || (c == -1)) {
228  // standalone param or error
229  usage(argv[0], NULL);
230  std::cerr << "ERROR: " << std::endl;
231  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
232  return false;
233  }
234 
235  return true;
236 }
237 
238 struct rs_intrinsics {
239  float ppx;
241  float ppy;
243  float fx;
245  float fy;
247  float coeffs[5];
248 };
249 
250 void rs_deproject_pixel_to_point(float point[3], const rs_intrinsics &intrin, const float pixel[2], float depth)
251 {
252  float x = (pixel[0] - intrin.ppx) / intrin.fx;
253  float y = (pixel[1] - intrin.ppy) / intrin.fy;
254 
255  float r2 = x * x + y * y;
256  float f = 1 + intrin.coeffs[0] * r2 + intrin.coeffs[1] * r2 * r2 + intrin.coeffs[4] * r2 * r2 * r2;
257  float ux = x * f + 2 * intrin.coeffs[2] * x * y + intrin.coeffs[3] * (r2 + 2 * x * x);
258  float uy = y * f + 2 * intrin.coeffs[3] * x * y + intrin.coeffs[2] * (r2 + 2 * y * y);
259 
260  x = ux;
261  y = uy;
262 
263  point[0] = depth * x;
264  point[1] = depth * y;
265  point[2] = depth;
266 }
267 
268 bool read_data(unsigned int cpt, const std::string &input_directory, vpImage<unsigned char> &I,
269  vpImage<uint16_t> &I_depth_raw, std::vector<vpColVector> &pointcloud, unsigned int &pointcloud_width,
270  unsigned int &pointcloud_height)
271 {
272  char buffer[256];
273 
274  // Read image
275  std::stringstream ss;
276  ss << input_directory << "/image_%04d.pgm";
277  sprintf(buffer, ss.str().c_str(), cpt);
278  std::string filename_image = buffer;
279 
280  if (!vpIoTools::checkFilename(filename_image)) {
281  std::cerr << "Cannot read: " << filename_image << std::endl;
282  return false;
283  }
284  vpImageIo::read(I, filename_image);
285 
286  // Read raw depth
287  ss.str("");
288  ss << input_directory << "/depth_image_%04d.bin";
289  sprintf(buffer, ss.str().c_str(), cpt);
290  std::string filename_depth = buffer;
291 
292  std::ifstream file_depth(filename_depth.c_str(), std::ios::in | std::ios::binary);
293  if (!file_depth.is_open()) {
294  return false;
295  }
296 
297  unsigned int height = 0, width = 0;
298  vpIoTools::readBinaryValueLE(file_depth, height);
299  vpIoTools::readBinaryValueLE(file_depth, width);
300 
301  I_depth_raw.resize(height, width);
302 
303  uint16_t depth_value = 0;
304  for (unsigned int i = 0; i < height; i++) {
305  for (unsigned int j = 0; j < width; j++) {
306  vpIoTools::readBinaryValueLE(file_depth, depth_value);
307  I_depth_raw[i][j] = depth_value;
308  }
309  }
310 
311  // Transform pointcloud
312  pointcloud_width = width;
313  pointcloud_height = height;
314  pointcloud.resize((size_t)width * height);
315 
316  // Only for Creative SR300
317  const float depth_scale = 0.000124986647f;
318  rs_intrinsics depth_intrinsic;
319  depth_intrinsic.ppx = 311.484558f;
320  depth_intrinsic.ppy = 246.283234f;
321  depth_intrinsic.fx = 476.053619f;
322  depth_intrinsic.fy = 476.053497f;
323  depth_intrinsic.coeffs[0] = 0.165056542f;
324  depth_intrinsic.coeffs[1] = -0.0508309528f;
325  depth_intrinsic.coeffs[2] = 0.00435937941f;
326  depth_intrinsic.coeffs[3] = 0.00541406544f;
327  depth_intrinsic.coeffs[4] = 0.250085592f;
328 
329  for (unsigned int i = 0; i < height; i++) {
330  for (unsigned int j = 0; j < width; j++) {
331  float scaled_depth = I_depth_raw[i][j] * depth_scale;
332  float point[3];
333  float pixel[2] = {(float)j, (float)i};
334  rs_deproject_pixel_to_point(point, depth_intrinsic, pixel, scaled_depth);
335 
336  vpColVector data_3D(3);
337  data_3D[0] = point[0];
338  data_3D[1] = point[1];
339  data_3D[2] = point[2];
340 
341  pointcloud[(size_t)(i * width + j)] = data_3D;
342  }
343  }
344 
345  return true;
346 }
347 
348 void loadConfiguration(vpMbTracker *const tracker,
349  const std::string &
350 #if USE_XML
351  configFile
352 #endif
353  ,
354  const std::string &
355 #if USE_XML
356  configFile_depth
357 #endif
358 )
359 {
360 #if USE_XML
361  // From the xml file
362  dynamic_cast<vpMbGenericTracker *>(tracker)->loadConfigFile(configFile, configFile_depth);
363 #else
364  // Edge
365  vpMe me;
366  me.setMaskSize(5);
367  me.setMaskNumber(180);
368  me.setRange(8);
369  me.setThreshold(10000);
370  me.setMu1(0.5);
371  me.setMu2(0.5);
372  me.setSampleStep(4);
373  dynamic_cast<vpMbGenericTracker *>(tracker)->setMovingEdge(me);
374 
375 // Klt
376 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
377  vpKltOpencv klt;
378  klt.setMaxFeatures(10000);
379  klt.setWindowSize(5);
380  klt.setQuality(0.01);
381  klt.setMinDistance(5);
382  klt.setHarrisFreeParameter(0.02);
383  klt.setBlockSize(3);
384  klt.setPyramidLevels(3);
385 
386  dynamic_cast<vpMbGenericTracker *>(tracker)->setKltOpencv(klt);
387  dynamic_cast<vpMbGenericTracker *>(tracker)->setKltMaskBorder(5);
388 #endif
389 
390  // Depth
391  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalFeatureEstimationMethod(
393  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationMethod(2);
394  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacMaxIter(200);
395  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
396  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalSamplingStep(2, 2);
397 
398  dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthDenseSamplingStep(4, 4);
399 
400  vpCameraParameters cam1, cam2;
401  cam1.initPersProjWithoutDistortion(615.1674804688, 615.1675415039, 312.1889953613, 243.4373779297);
402  cam2.initPersProjWithoutDistortion(476.0536193848, 476.0534973145, 311.4845581055, 246.2832336426);
403 
404  dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
405 
406  tracker->setAngleAppear(vpMath::rad(70));
407  tracker->setAngleDisappear(vpMath::rad(80));
408 
409  // Specify the clipping to
410  tracker->setNearClippingDistance(0.01);
411  tracker->setFarClippingDistance(2.0);
412  tracker->setClipping(tracker->getClipping() | vpMbtPolygon::FOV_CLIPPING);
413 // tracker->setClipping(tracker->getClipping() | vpMbtPolygon::LEFT_CLIPPING
414 // | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
415 // vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
416 #endif
417 }
418 }
419 
420 int main(int argc, const char **argv)
421 {
422  try {
423  std::string env_ipath;
424  std::string opt_ipath;
425  std::string ipath;
426  std::string opt_configFile;
427  std::string opt_configFile_depth;
428  std::string opt_modelFile;
429  std::string opt_modelFile_depth;
430  std::string opt_initFile;
431  std::string initFile;
432  bool displayFeatures = true;
433  bool opt_click_allowed = true;
434  bool opt_display = true;
435  bool useOgre = false;
436  bool showOgreConfigDialog = false;
437  bool useScanline = false;
438  bool computeCovariance = false;
439  bool projectionError = false;
440  int trackerType_image = vpMbGenericTracker::EDGE_TRACKER;
441  int trackerType_depth = vpMbGenericTracker::DEPTH_DENSE_TRACKER;
442 #if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
443  // To avoid Debian test timeout
444  int opt_lastFrame = 5;
445 #else
446  int opt_lastFrame = -1;
447 #endif
448 
449  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
450  // environment variable value
451  env_ipath = vpIoTools::getViSPImagesDataPath();
452 
453  // Set the default input path
454  if (!env_ipath.empty())
455  ipath = env_ipath;
456 
457  // Read the command line options
458  if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_configFile_depth, opt_modelFile, opt_modelFile_depth,
459  opt_initFile, displayFeatures, opt_click_allowed, opt_display, useOgre, showOgreConfigDialog,
460  useScanline, computeCovariance, projectionError, trackerType_image, trackerType_depth,
461  opt_lastFrame)) {
462  return EXIT_FAILURE;
463  }
464 
465 #if !defined(VISP_HAVE_MODULE_KLT) || (!defined(VISP_HAVE_OPENCV) || (VISP_HAVE_OPENCV_VERSION < 0x020100))
466  if (trackerType_image == /*vpMbGenericTracker::KLT_TRACKER*/ 2) {
467  std::cout << "KLT only features cannot be used: ViSP is not built with "
468  "KLT module or OpenCV is not available."
469  << std::endl;
470  return EXIT_SUCCESS;
471  }
472 #endif
473 
474  // Test if an input path is set
475  if (opt_ipath.empty() && env_ipath.empty()) {
476  usage(argv[0], NULL);
477  std::cerr << std::endl << "ERROR:" << std::endl;
478  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
479  << " environment variable to specify the location of the " << std::endl
480  << " image path where test images are located." << std::endl
481  << std::endl;
482 
483  return EXIT_FAILURE;
484  }
485 
486  // Get the option values
487  ipath = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/castel");
488 
489  std::string dir_path = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth");
490  if (!vpIoTools::checkDirectory(dir_path)) {
491  std::cerr << "ViSP-images does not contain the folder: " << dir_path << "!" << std::endl;
492  return EXIT_SUCCESS;
493  }
494 
495  std::string configFile, configFile_depth;
496  if (!opt_configFile.empty())
497  configFile = opt_configFile;
498  else
499  configFile =
500  vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.xml");
501 
502  if (!opt_configFile_depth.empty())
503  configFile_depth = opt_configFile_depth;
504  else
505  configFile_depth =
506  vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau_depth.xml");
507 
508  std::string modelFile, modelFile_depth;
509  if (!opt_modelFile.empty())
510  modelFile = opt_modelFile;
511  else {
512 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 2 || COIN_MAJOR_VERSION == 3 || COIN_MAJOR_VERSION == 4)
513  modelFile =
514  vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau_gantry.wrl");
515 #else
516  modelFile = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.cao");
517 #endif
518  }
519 
520  if (!opt_modelFile_depth.empty())
521  modelFile_depth = opt_modelFile_depth;
522  else
523  modelFile_depth =
524  vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.cao");
525 
526  std::string vrml_ext = ".wrl";
527  bool use_vrml =
528  (modelFile.compare(modelFile.length() - vrml_ext.length(), vrml_ext.length(), vrml_ext) == 0) ||
529  (modelFile_depth.compare(modelFile_depth.length() - vrml_ext.length(), vrml_ext.length(), vrml_ext) == 0);
530 
531  if (use_vrml) {
532 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 2 || COIN_MAJOR_VERSION == 3 || COIN_MAJOR_VERSION == 4)
533  std::cout << "use_vrml: " << use_vrml << std::endl;
534 #else
535  std::cerr << "Error: vrml model file is only supported if ViSP is "
536  "build with Coin3D 3rd party"
537  << std::endl;
538  return EXIT_FAILURE;
539 #endif
540  }
541 
542  if (!opt_initFile.empty())
543  initFile = opt_initFile;
544  else
545  initFile = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.init");
546 
547  vpImage<unsigned char> I, I_depth;
548  vpImage<uint16_t> I_depth_raw;
549  std::vector<vpColVector> pointcloud;
550  unsigned int pointcloud_width, pointcloud_height;
551  if (!read_data(0, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height)) {
552  std::cerr << "Cannot open sequence: " << ipath << std::endl;
553  return EXIT_FAILURE;
554  }
555 
556  vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
557 
558 // initialise a display
559 #if defined VISP_HAVE_X11
560  vpDisplayX display1, display2;
561 #elif defined VISP_HAVE_GDI
562  vpDisplayGDI display1, display2;
563 #elif defined VISP_HAVE_OPENCV
564  vpDisplayOpenCV display1, display2;
565 #elif defined VISP_HAVE_D3D9
566  vpDisplayD3D display1, display2;
567 #elif defined VISP_HAVE_GTK
568  vpDisplayGTK display1, display2;
569 #else
570  opt_display = false;
571 #endif
572  if (opt_display) {
573 #if defined(VISP_HAVE_DISPLAY)
576  display1.init(I, 100, 100, "Test tracking (Left)");
577  display2.init(I_depth, (int)(I.getWidth() / vpDisplay::getDownScalingFactor(I)) + 110, 100,
578  "Test tracking (Right)");
579 #endif
581  vpDisplay::display(I_depth);
582  vpDisplay::flush(I);
583  vpDisplay::flush(I_depth);
584  }
585 
586  std::vector<int> trackerTypes(2);
587  trackerTypes[0] = trackerType_image;
588  trackerTypes[1] = trackerType_depth;
589  // Object pointer to check that inheritance is ok
590  vpMbTracker *tracker = new vpMbGenericTracker(trackerTypes);
591  vpHomogeneousMatrix c1Mo, c2Mo;
592  vpCameraParameters cam1, cam2;
593 
594  loadConfiguration(tracker, configFile, configFile_depth);
595 
596  vpHomogeneousMatrix depth_M_color;
597  std::string depth_M_color_filename =
598  vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/depth_M_color.txt");
599  {
600  std::ifstream depth_M_color_file(depth_M_color_filename.c_str());
601  depth_M_color.load(depth_M_color_file);
602  std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrices;
603  mapOfCameraTransformationMatrices["Camera2"] = depth_M_color;
604  dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraTransformationMatrix(mapOfCameraTransformationMatrices);
605  }
606 
607  // Display the moving edges, and the Klt points
608  tracker->setDisplayFeatures(displayFeatures);
609 
610  // Tells if the tracker has to use Ogre3D for visibility tests
611  tracker->setOgreVisibilityTest(useOgre);
612  if (useOgre)
613  tracker->setOgreShowConfigDialog(showOgreConfigDialog);
614 
615  // Tells if the tracker has to use the scanline visibility tests
616  tracker->setScanLineVisibilityTest(useScanline);
617 
618  // Tells if the tracker has to compute the covariance matrix
619  tracker->setCovarianceComputation(computeCovariance);
620 
621  // Tells if the tracker has to compute the projection error
622  tracker->setProjectionErrorComputation(projectionError);
623 
624  // Retrieve the camera parameters from the tracker
625  dynamic_cast<vpMbGenericTracker *>(tracker)->getCameraParameters(cam1, cam2);
626 
627  // Loop to position the cube
628  if (opt_display && opt_click_allowed) {
629  while (!vpDisplay::getClick(I, false)) {
631  vpDisplay::displayText(I, 15, 10, "click after positioning the object", vpColor::red);
632  vpDisplay::flush(I);
633  }
634  }
635 
636  // Load the 3D model (either a vrml file or a .cao file)
637  dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile, modelFile_depth);
638 
639  if (opt_display && opt_click_allowed) {
640  std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
641  mapOfImages["Camera1"] = &I;
642  mapOfImages["Camera2"] = &I_depth;
643  std::map<std::string, std::string> mapOfInitFiles;
644  mapOfInitFiles["Camera1"] = initFile;
645 
646  // Initialise the tracker by clicking on the image
647  dynamic_cast<vpMbGenericTracker *>(tracker)->initClick(mapOfImages, mapOfInitFiles, true);
648  dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
649  // display the 3D model at the given pose
650  dynamic_cast<vpMbGenericTracker *>(tracker)->display(I, I_depth, c1Mo, c2Mo, cam1, cam2, vpColor::red);
651  } else {
652  vpHomogeneousMatrix c1Moi(0.06846423368, 0.09062570884, 0.3401096693, -2.671882598, 0.1174275908, -0.6011935263);
653  vpHomogeneousMatrix c2Moi(0.04431452054, 0.09294637757, 0.3357760654, -2.677922443, 0.121297639, -0.6028463357);
654  dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I, I_depth, c1Moi, c2Moi);
655  }
656 
657  // track the model
658  {
659  std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
660  mapOfImages["Camera1"] = &I;
661  std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
662  mapOfPointclouds["Camera2"] = &pointcloud;
663  std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
664  mapOfWidths["Camera2"] = pointcloud_width;
665  mapOfHeights["Camera2"] = pointcloud_height;
666 
667  dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
668  }
669  dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
670 
671  if (opt_display) {
672  vpDisplay::flush(I);
673  vpDisplay::flush(I_depth);
674  }
675 
676  bool quit = false, click = false;
677  unsigned int frame_index = 0;
678  std::vector<double> time_vec;
679  while (read_data(frame_index, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height) && !quit &&
680  (opt_lastFrame > 0 ? (int)frame_index <= opt_lastFrame : true)) {
681  vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
682 
683  if (opt_display) {
685  vpDisplay::display(I_depth);
686 
687  std::stringstream ss;
688  ss << "Num frame: " << frame_index;
689  vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
690  }
691 
692  // Test reset the tracker
693  if (frame_index == 10) {
694  std::cout << "----------Test reset tracker----------" << std::endl;
695  if (opt_display) {
697  vpDisplay::display(I_depth);
698  }
699 
700  tracker->resetTracker();
701 
702  loadConfiguration(tracker, configFile, configFile_depth);
703  dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile, modelFile_depth);
704  dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
705  tracker->setOgreVisibilityTest(useOgre);
706  tracker->setScanLineVisibilityTest(useScanline);
707  tracker->setCovarianceComputation(computeCovariance);
708  tracker->setProjectionErrorComputation(projectionError);
709  dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I, I_depth, c1Mo, c2Mo);
710  }
711 
712 // Test to set an initial pose
713 #if USE_SMALL_DATASET
714  if (frame_index == 20) {
715  c1Mo.buildFrom(0.07734634051, 0.08993639906, 0.342344402, -2.708409543, 0.0669276477, -0.3798958303);
716  c2Mo.buildFrom(0.05319520317, 0.09223511976, 0.3380095812, -2.71438192, 0.07141055397, -0.3810081638);
717 #else
718  if (frame_index == 50) {
719  c1Mo.buildFrom(0.09280663035, 0.09277655672, 0.330415149, -2.724431817, 0.0293932671, 0.02027966377);
720  c2Mo.buildFrom(0.06865933578, 0.09494713501, 0.3260555142, -2.730027451, 0.03498390135, 0.01989831338);
721 #endif
722  std::cout << "Test set pose" << std::endl;
723  dynamic_cast<vpMbGenericTracker *>(tracker)->setPose(I, I_depth, c1Mo, c2Mo);
724  }
725 
726 #if USE_SMALL_DATASET
727  // track the object: stop tracking from frame 15 to 20
728  if (frame_index < 15 || frame_index >= 20) {
729 #else
730  // track the object: stop tracking from frame 30 to 50
731  if (frame_index < 30 || frame_index >= 50) {
732 #endif
733  std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
734  mapOfImages["Camera1"] = &I;
735  std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
736  mapOfPointclouds["Camera2"] = &pointcloud;
737  std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
738  mapOfWidths["Camera2"] = pointcloud_width;
739  mapOfHeights["Camera2"] = pointcloud_height;
740 
741  double t = vpTime::measureTimeMs();
742  dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
743  t = vpTime::measureTimeMs() - t;
744  time_vec.push_back(t);
745 
746  dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
747 
748  if (opt_display) {
749  // display the 3D model
750  dynamic_cast<vpMbGenericTracker *>(tracker)->display(I, I_depth, c1Mo, c2Mo, cam1, cam2, vpColor::darkRed);
751  // display the frame
752  vpDisplay::displayFrame(I, c1Mo, cam1, 0.05);
753  vpDisplay::displayFrame(I_depth, c2Mo, cam2, 0.05);
754  // computation time
755  std::stringstream ss;
756  ss << "Computation time: " << t << " ms";
757  vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
758  // nb features
759  ss.str("");
760  ss << "nb features: " << tracker->getError().getRows();
761  vpDisplay::displayText(I_depth, 80, 20, ss.str(), vpColor::red);
762  {
763  std::stringstream ss;
764  ss << "Features: edges " << dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesEdge()
765  << ", klt " << dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesKlt()
766  << ", depth " << dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesDepthDense();
767  vpDisplay::displayText(I, I.getHeight() - 30, 20, ss.str(), vpColor::red);
768  }
769  }
770  }
771 
772  if (opt_click_allowed && opt_display) {
773  vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
775  if (vpDisplay::getClick(I, button, click)) {
776  switch (button) {
778  quit = !click;
779  break;
780 
782  click = !click;
783  break;
784 
785  default:
786  break;
787  }
788  }
789  }
790 
791  if (computeCovariance) {
792  std::cout << "Covariance matrix: \n" << tracker->getCovarianceMatrix() << std::endl << std::endl;
793  }
794 
795  if (projectionError) {
796  std::cout << "Projection error: " << tracker->getProjectionError() << std::endl << std::endl;
797  }
798 
799  if (opt_display) {
800  vpDisplay::flush(I);
801  vpDisplay::flush(I_depth);
802  }
803 
804  frame_index++;
805  }
806 
807  std::cout << "\nFinal poses, c1Mo:\n" << c1Mo << "\nc2Mo:\n" << c2Mo << std::endl;
808  std::cout << "\nComputation time, Mean: " << vpMath::getMean(time_vec)
809  << " ms ; Median: " << vpMath::getMedian(time_vec) << " ms ; Std: " << vpMath::getStdev(time_vec) << " ms"
810  << std::endl;
811 
812  if (opt_click_allowed && !quit) {
814  }
815 
816  delete tracker;
817  tracker = NULL;
818 
819  return EXIT_SUCCESS;
820  } catch (const vpException &e) {
821  std::cout << "Catch an exception: " << e << std::endl;
822  return EXIT_FAILURE;
823  }
824 }
825 
826 #elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
827 int main()
828 {
829  std::cout << "Cannot run this example: visp_mbt, visp_gui modules are required."
830  << std::endl;
831  return EXIT_SUCCESS;
832 }
833 #else
834 int main()
835 {
836  std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
837  return EXIT_SUCCESS;
838 }
839 #endif
840 
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
virtual void setCovarianceComputation(const bool &flag)
Definition: vpMbTracker.h:499
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:149
void setMaxFeatures(int maxCount)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
void setHarrisFreeParameter(double harris_k)
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:480
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:800
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
static void readBinaryValueLE(std::ifstream &file, int16_t &short_value)
Definition: vpIoTools.cpp:1993
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:261
static const vpColor darkRed
Definition: vpColor.h:218
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:128
void setSampleStep(const double &s)
Definition: vpMe.h:278
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:291
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...
Definition: vpDisplayX.h:134
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:643
virtual double getProjectionError() const
Definition: vpMbTracker.h:310
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
Definition: vpException.h:71
unsigned int getRows() const
Definition: vpArray2D.h:289
Definition: vpMe.h:60
Real-time 6D object pose tracking using its CAD model.
virtual void resetTracker()=0
static void flush(const vpImage< unsigned char > &I)
void load(std::ifstream &f)
VISP_EXPORT double measureTimeMs()
Definition: vpTime.cpp:126
void setMu1(const double &mu_1)
Definition: vpMe.h:241
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
static const vpColor red
Definition: vpColor.h:217
void setQuality(double qualityLevel)
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:420
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:241
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
Definition: vpDisplayD3D.h:106
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1670
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
void setPyramidLevels(int pyrMaxLevel)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
Main methods for a model-based tracker.
Definition: vpMbTracker.h:104
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:134
void setWindowSize(int winSize)
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:469
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
Definition: vpMath.h:110
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void setMu2(const double &mu_2)
Definition: vpMe.h:248
virtual void setOgreVisibilityTest(const bool &v)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:130
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))
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
virtual vpMatrix getCovarianceMatrix() const
Definition: vpMbTracker.h:265
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:78
void setThreshold(const double &t)
Definition: vpMe.h:300
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:802
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:601
virtual void setClipping(const unsigned int &flags)
void setRange(const unsigned int &r)
Definition: vpMe.h:271
virtual void setFarClippingDistance(const double &dist)
void setBlockSize(int blockSize)
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:517
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:584
virtual vpColVector getError() const =0
virtual void setNearClippingDistance(const double &dist)