Visual Servoing Platform  version 3.5.1 under development (2022-07-03)
mbtKltTracking.cpp
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30  *
31  * Description:
32  * Example of MBT KLT Tracking.
33  *
34  * Authors:
35  * Aurelien Yol
36  *
37  *****************************************************************************/
38 
45 #include <iostream>
46 #include <visp3/core/vpConfig.h>
47 
48 #if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_MODULE_KLT) && defined(VISP_HAVE_OPENCV) && \
49  defined(VISP_HAVE_DISPLAY) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
50 
51 #include <visp3/core/vpDebug.h>
52 #include <visp3/core/vpHomogeneousMatrix.h>
53 #include <visp3/core/vpIoTools.h>
54 #include <visp3/core/vpMath.h>
55 #include <visp3/gui/vpDisplayD3D.h>
56 #include <visp3/gui/vpDisplayGDI.h>
57 #include <visp3/gui/vpDisplayGTK.h>
58 #include <visp3/gui/vpDisplayOpenCV.h>
59 #include <visp3/gui/vpDisplayX.h>
60 #include <visp3/io/vpImageIo.h>
61 #include <visp3/io/vpParseArgv.h>
62 #include <visp3/io/vpVideoReader.h>
63 #include <visp3/mbt/vpMbKltTracker.h>
64 
65 #define GETOPTARGS "x:m:i:n:de:chtfolwv"
66 
67 void usage(const char *name, const char *badparam)
68 {
69  fprintf(stdout, "\n\
70 Example of tracking based on the 3D model.\n\
71 \n\
72 SYNOPSIS\n\
73  %s [-i <test image path>] [-x <config file>]\n\
74  [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\
75  [-t] [-c] [-d] [-h] [-f] [-o] [-w] [-l] [-v]\n",
76  name);
77 
78  fprintf(stdout, "\n\
79 OPTIONS: \n\
80  -i <input image path> \n\
81  Set image input path.\n\
82  From this path read images \n\
83  \"mbt/cube/image%%04d.ppm\". These \n\
84  images come from ViSP-images-x.y.z.tar.gz available \n\
85  on the ViSP website.\n\
86  Setting the VISP_INPUT_IMAGE_PATH environment\n\
87  variable produces the same behaviour than using\n\
88  this option.\n\
89 \n\
90  -x <config file> \n\
91  Set the config file (the xml file) to use.\n\
92  The config file is used to specify the parameters of the tracker.\n\
93 \n\
94  -m <model name> \n\
95  Specify the name of the file of the model\n\
96  The model can either be a vrml model (.wrl) or a .cao file.\n\
97 \n\
98  -e <last frame index> \n\
99  Specify the index of the last frame. Once reached, the tracking is stopped\n\
100 \n\
101  -f \n\
102  Do not use the vrml model, use the .cao one. These two models are \n\
103  equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
104  website. However, the .cao model allows to use the 3d model based tracker \n\
105  without Coin.\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 optionnal picture specifying where to \n\
110  click (a .ppm picture).\n\
111 \n\
112  -t \n\
113  Turn off the display of the the 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 automaze the \n\
120  execution of this program without humain 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 thatallows 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  -h \n\
135  Print the help.\n\n");
136 
137  if (badparam)
138  fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
139 }
140 
141 bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
142  std::string &initFile, long &lastFrame, bool &displayKltPoints, bool &click_allowed, bool &display,
143  bool &cao3DModel, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline, bool &computeCovariance)
144 {
145  const char *optarg_;
146  int c;
147  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
148 
149  switch (c) {
150  case 'e':
151  lastFrame = atol(optarg_);
152  break;
153  case 'i':
154  ipath = optarg_;
155  break;
156  case 'x':
157  configFile = optarg_;
158  break;
159  case 'm':
160  modelFile = optarg_;
161  break;
162  case 'n':
163  initFile = optarg_;
164  break;
165  case 't':
166  displayKltPoints = false;
167  break;
168  case 'f':
169  cao3DModel = true;
170  break;
171  case 'c':
172  click_allowed = false;
173  break;
174  case 'd':
175  display = false;
176  break;
177  case 'o':
178  useOgre = true;
179  break;
180  case 'l':
181  useScanline = true;
182  break;
183  case 'w':
184  showOgreConfigDialog = true;
185  break;
186  case 'v':
187  computeCovariance = true;
188  break;
189  case 'h':
190  usage(argv[0], NULL);
191  return false;
192  break;
193 
194  default:
195  usage(argv[0], optarg_);
196  return false;
197  break;
198  }
199  }
200 
201  if ((c == 1) || (c == -1)) {
202  // standalone param or error
203  usage(argv[0], NULL);
204  std::cerr << "ERROR: " << std::endl;
205  std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
206  return false;
207  }
208 
209  return true;
210 }
211 
212 int main(int argc, const char **argv)
213 {
214  try {
215  std::string env_ipath;
216  std::string opt_ipath;
217  std::string ipath;
218  std::string opt_configFile;
219  std::string configFile;
220  std::string opt_modelFile;
221  std::string modelFile;
222  std::string opt_initFile;
223  std::string initFile;
224  long opt_lastFrame = -1;
225  bool displayKltPoints = true;
226  bool opt_click_allowed = true;
227  bool opt_display = true;
228  bool cao3DModel = false;
229  bool useOgre = false;
230  bool showOgreConfigDialog = false;
231  bool useScanline = false;
232  bool computeCovariance = false;
233  bool quit = false;
234 
235  // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
236  // environment variable value
237  env_ipath = vpIoTools::getViSPImagesDataPath();
238 
239  // Set the default input path
240  if (!env_ipath.empty())
241  ipath = env_ipath;
242 
243  // Read the command line options
244  if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayKltPoints,
245  opt_click_allowed, opt_display, cao3DModel, useOgre, showOgreConfigDialog, useScanline,
246  computeCovariance)) {
247  return (-1);
248  }
249 
250  // Test if an input path is set
251  if (opt_ipath.empty() && env_ipath.empty()) {
252  usage(argv[0], NULL);
253  std::cerr << std::endl << "ERROR:" << std::endl;
254  std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
255  << " environment variable to specify the location of the " << std::endl
256  << " image path where test images are located." << std::endl
257  << std::endl;
258 
259  return (-1);
260  }
261 
262  // Get the option values
263  if (!opt_ipath.empty())
264  ipath = vpIoTools::createFilePath(opt_ipath, "mbt/cube/image%04d.pgm");
265  else
266  ipath = vpIoTools::createFilePath(env_ipath, "mbt/cube/image%04d.pgm");
267 
268  if (!opt_configFile.empty())
269  configFile = opt_configFile;
270  else if (!opt_ipath.empty())
271  configFile = vpIoTools::createFilePath(opt_ipath, "mbt/cube.xml");
272  else
273  configFile = vpIoTools::createFilePath(env_ipath, "mbt/cube.xml");
274 
275  if (!opt_modelFile.empty()) {
276  modelFile = opt_modelFile;
277  } else {
278  std::string modelFileCao = "mbt/cube.cao";
279  std::string modelFileWrl = "mbt/cube.wrl";
280 
281  if (!opt_ipath.empty()) {
282  if (cao3DModel) {
283  modelFile = vpIoTools::createFilePath(opt_ipath, modelFileCao);
284  } else {
285 #ifdef VISP_HAVE_COIN3D
286  modelFile = vpIoTools::createFilePath(opt_ipath, modelFileWrl);
287 #else
288  std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
289  modelFile = vpIoTools::createFilePath(opt_ipath, modelFileCao);
290 #endif
291  }
292  } else {
293  if (cao3DModel) {
294  modelFile = vpIoTools::createFilePath(env_ipath, modelFileCao);
295  } else {
296 #ifdef VISP_HAVE_COIN3D
297  modelFile = vpIoTools::createFilePath(env_ipath, modelFileWrl);
298 #else
299  std::cerr << "Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
300  modelFile = vpIoTools::createFilePath(env_ipath, modelFileCao);
301 #endif
302  }
303  }
304  }
305 
306  if (!opt_initFile.empty())
307  initFile = opt_initFile;
308  else if (!opt_ipath.empty())
309  initFile = vpIoTools::createFilePath(opt_ipath, "mbt/cube");
310  else
311  initFile = vpIoTools::createFilePath(env_ipath, "mbt/cube");
312 
314  vpVideoReader reader;
315 
316  reader.setFileName(ipath);
317  try {
318  reader.open(I);
319  } catch (...) {
320  std::cout << "Cannot open sequence: " << ipath << std::endl;
321  return -1;
322  }
323 
324  if (opt_lastFrame > 1 && opt_lastFrame < reader.getLastFrameIndex())
325  reader.setLastFrameIndex(opt_lastFrame);
326 
327  reader.acquire(I);
328 
329 // initialise a display
330 #if defined VISP_HAVE_X11
331  vpDisplayX display;
332 #elif defined VISP_HAVE_GDI
333  vpDisplayGDI display;
334 #elif defined VISP_HAVE_OPENCV
335  vpDisplayOpenCV display;
336 #elif defined VISP_HAVE_D3D9
337  vpDisplayD3D display;
338 #elif defined VISP_HAVE_GTK
339  vpDisplayGTK display;
340 #else
341  opt_display = false;
342 #endif
343  if (opt_display) {
344 #if defined(VISP_HAVE_DISPLAY)
345  display.init(I, 100, 100, "Test tracking");
346 #endif
348  vpDisplay::flush(I);
349  }
350 
351  vpMbKltTracker tracker;
353 
354  // Load tracker config file (camera parameters and moving edge settings)
355  vpCameraParameters cam;
356  // From the xml file
357  tracker.loadConfigFile(configFile);
358 #if 0
359  // Corresponding parameters manually set to have an example code
360  // By setting the parameters:
361  cam.initPersProjWithoutDistortion(547, 542, 338, 234);
362 
363  vpKltOpencv klt;
364  klt.setMaxFeatures(10000);
365  klt.setWindowSize(5);
366  klt.setQuality(0.01);
367  klt.setMinDistance(5);
368  klt.setHarrisFreeParameter(0.01);
369  klt.setBlockSize(3);
370  klt.setPyramidLevels(3);
371 
372  tracker.setCameraParameters(cam);
373  tracker.setKltOpencv(klt);
374  tracker.setKltMaskBorder(5);
375  tracker.setAngleAppear(vpMath::rad(65));
376  tracker.setAngleDisappear(vpMath::rad(75));
377 
378  // Specify the clipping to use
379  tracker.setNearClippingDistance(0.01);
380  tracker.setFarClippingDistance(0.90);
382 // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING |
383 // vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
384 // vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
385 #endif
386 
387  // Display the klt points
388  tracker.setDisplayFeatures(displayKltPoints);
389 
390  // Tells if the tracker has to use Ogre3D for visibility tests
391  tracker.setOgreVisibilityTest(useOgre);
392  if (useOgre)
393  tracker.setOgreShowConfigDialog(showOgreConfigDialog);
394 
395  // Tells if the tracker has to use the scanline visibility tests
396  tracker.setScanLineVisibilityTest(useScanline);
397 
398  // Tells if the tracker has to compute the covariance matrix
399  tracker.setCovarianceComputation(computeCovariance);
400 
401  // Retrieve the camera parameters from the tracker
402  tracker.getCameraParameters(cam);
403 
404  // Loop to position the cube
405  if (opt_display && opt_click_allowed) {
406  while (!vpDisplay::getClick(I, false)) {
408  vpDisplay::displayText(I, 15, 10, "click after positioning the object", vpColor::red);
409  vpDisplay::flush(I);
410  }
411  }
412 
413  // Load the 3D model (either a vrml file or a .cao file)
414  tracker.loadModel(modelFile);
415 
416  // Initialise the tracker by clicking on the image
417  // This function looks for
418  // - a ./cube/cube.init file that defines the 3d coordinates (in meter,
419  // in the object basis) of the points used for the initialisation
420  // - a ./cube/cube.ppm file to display where the user have to click
421  // (optionnal, set by the third parameter)
422  if (opt_display && opt_click_allowed) {
423  tracker.initClick(I, initFile, true);
424  tracker.getPose(cMo);
425  // display the 3D model at the given pose
426  tracker.display(I, cMo, cam, vpColor::red);
427  } else {
428  vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
429  tracker.initFromPose(I, cMoi);
430  }
431 
432  // track the model
433  tracker.track(I);
434  tracker.getPose(cMo);
435 
436  if (opt_display)
437  vpDisplay::flush(I);
438 
439  while (!reader.end()) {
440  // acquire a new image
441  reader.acquire(I);
442  // display the image
443  if (opt_display)
445 
446  // Test to reset the tracker
447  if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 10) {
448  vpTRACE("Test reset tracker");
449  if (opt_display)
451  tracker.resetTracker();
452  tracker.loadConfigFile(configFile);
453 #if 0
454  // Corresponding parameters manually set to have an example code
455  // By setting the parameters:
456  cam.initPersProjWithoutDistortion(547, 542, 338, 234);
457 
458  vpKltOpencv klt;
459  klt.setMaxFeatures(10000);
460  klt.setWindowSize(5);
461  klt.setQuality(0.01);
462  klt.setMinDistance(5);
463  klt.setHarrisFreeParameter(0.01);
464  klt.setBlockSize(3);
465  klt.setPyramidLevels(3);
466 
467  tracker.setCameraParameters(cam);
468  tracker.setKltOpencv(klt);
469  tracker.setKltMaskBorder(5);
470  tracker.setAngleAppear(vpMath::rad(65));
471  tracker.setAngleDisappear(vpMath::rad(75));
472 
473  // Specify the clipping to use
474  tracker.setNearClippingDistance(0.01);
475  tracker.setFarClippingDistance(0.90);
477 // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING |
478 // vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
479 // vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
480 #endif
481  tracker.loadModel(modelFile);
482  tracker.setCameraParameters(cam);
483  tracker.setOgreVisibilityTest(useOgre);
484  tracker.setScanLineVisibilityTest(useScanline);
485  tracker.setCovarianceComputation(computeCovariance);
486  tracker.initFromPose(I, cMo);
487  }
488 
489  // Test to set an initial pose
490  if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 50) {
491  cMo.buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
492  vpTRACE("Test set pose");
493  tracker.setPose(I, cMo);
494  // if (opt_display) {
495  // // display the 3D model
496  // tracker.display(I, cMo, cam, vpColor::darkRed);
497  // // display the frame
498  // vpDisplay::displayFrame (I, cMo, cam, 0.05);
503  // }
504  }
505 
506  // track the object: stop tracking from frame 40 to 50
507  if (reader.getFrameIndex() - reader.getFirstFrameIndex() < 40 ||
508  reader.getFrameIndex() - reader.getFirstFrameIndex() >= 50) {
509  tracker.track(I);
510  tracker.getPose(cMo);
511  if (opt_display) {
512  // display the 3D model
513  tracker.display(I, cMo, cam, vpColor::darkRed);
514  // display the frame
515  vpDisplay::displayFrame(I, cMo, cam, 0.05);
516  }
517  }
518 
519  if (opt_click_allowed) {
520  vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
521  if (vpDisplay::getClick(I, false)) {
522  quit = true;
523  break;
524  }
525  }
526 
527  if (computeCovariance) {
528  std::cout << "Covariance matrix: \n" << tracker.getCovarianceMatrix() << std::endl << std::endl;
529  }
530 
531  if (opt_display)
532  vpDisplay::flush(I);
533  }
534 
535  std::cout << "Reached last frame: " << reader.getFrameIndex() << std::endl;
536 
537  if (opt_click_allowed && !quit) {
539  }
540 
541  reader.close();
542 
543  return EXIT_SUCCESS;
544  } catch (const vpException &e) {
545  std::cout << "Catch an exception: " << e << std::endl;
546  return EXIT_FAILURE;
547  }
548 }
549 
550 #else
551 
552 int main()
553 {
554  std::cout << "visp_mbt, visp_gui modules and OpenCV are required to run "
555  "this example."
556  << std::endl;
557  return EXIT_SUCCESS;
558 }
559 
560 #endif
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor red
Definition: vpColor.h:217
static const vpColor darkRed
Definition: vpColor.h:218
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:135
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
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))
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1368
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1687
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
Definition: vpMath.h:117
Model based tracker using only KLT.
virtual void setScanLineVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
virtual void setOgreVisibilityTest(const bool &v)
void setCameraParameters(const vpCameraParameters &cam)
void setKltMaskBorder(const unsigned int &e)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:647
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:248
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:518
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:414
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:481
virtual void setCovarianceComputation(const bool &flag)
Definition: vpMbTracker.h:500
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual vpMatrix getCovarianceMatrix() const
Definition: vpMbTracker.h:265
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:470
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void setLastFrameIndex(const long last_frame)
long getLastFrameIndex()
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFirstFrameIndex()
long getFrameIndex() const
#define vpTRACE
Definition: vpDebug.h:416