trackKltOpencv.cpp

Example of KLT tracking using OpenCV (Intel's Open source Computer Vision library).

/****************************************************************************
 *
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2023 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 https://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:
 * Example of dot tracking.
 *
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
 
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <vector>
 
#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
 
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
 
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/klt/vpKltOpencv.h>
 
// List of allowed command line options
#define GETOPTARGS "cdf:i:l:p:s:h"
 
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
 
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
           unsigned last, unsigned step);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
           unsigned last, unsigned step)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
  std::string ext("png");
#else
  std::string ext("pgm");
#endif
  fprintf(stdout, "\n\
Example of KLT tracking using OpenCV library.\n\
\n\
SYNOPSIS\n\
  %s [-i <test image path>] [-p <personal image path>]\n\
     [-f <first image>] [-l <last image>] [-s <step>]\n\
     [-c] [-d] [-h]\n",
          name);
 
  fprintf(stdout, "\n\
OPTIONS:                                               Default\n\
  -i <input image path>                                %s\n\
     Set image input path.\n\
     From this path read images \n\
     \"mire-2/image.%%04d.%s\". These \n\
     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 behaviour than using\n\
     this option.\n\
 \n\
 -p <personal image path>                              %s\n\
     Specify a personal sequence containing images \n\
     to process.\n\
     By image sequence, we mean one file per image.\n\
     Example : \"/Temp/visp-images/mire-2/image.%%04d.%s\"\n\
     %%04d is for the image numbering.\n\
 \n\
  -f <first image>                                     %u\n\
     First image number of the sequence.\n\
 \n\
  -l <last image>                                      %u\n\
     Last image number of the sequence.\n\
 \n\
  -s <step>                                            %u\n\
     Step between two images.\n\
\n\
  -c\n\
     Disable the mouse click. Useful to automate the \n\
     execution of this program without human intervention.\n\
\n\
  -d \n\
     Turn off the display.\n\
\n\
  -h\n\
     Print the help.\n",
          ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step);
 
  if (badparam)
    fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
 
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
                unsigned &step, bool &click_allowed, bool &display)
{
  const char *optarg_;
  int c;
  while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
 
    switch (c) {
    case 'c':
      click_allowed = false;
      break;
    case 'd':
      display = false;
      break;
    case 'i':
      ipath = optarg_;
      break;
    case 'p':
      ppath = optarg_;
      break;
    case 'f':
      first = (unsigned)atoi(optarg_);
      break;
    case 'l':
      last = (unsigned)atoi(optarg_);
      break;
    case 's':
      step = (unsigned)atoi(optarg_);
      break;
    case 'h':
      usage(argv[0], nullptr, ipath, ppath, first, last, step);
      return false;
      break;
 
    default:
      usage(argv[0], optarg_, ipath, ppath, first, last, step);
      return false;
      break;
    }
  }
 
  if ((c == 1) || (c == -1)) {
    // standalone param or error
    usage(argv[0], nullptr, ipath, ppath, first, last, step);
    std::cerr << "ERROR: " << std::endl;
    std::cerr << "  Bad argument " << optarg_ << std::endl << std::endl;
    return false;
  }
 
  return true;
}
 
int main(int argc, const char **argv)
{
  try {
    std::string env_ipath;
    std::string opt_ipath;
    std::string ipath;
    std::string opt_ppath;
    std::string dirname;
    std::string filename;
    unsigned opt_first = 1;
    unsigned opt_last = 500;
    unsigned opt_step = 1;
    bool opt_click_allowed = true;
    bool opt_display = true;
 
#if VISP_HAVE_DATASET_VERSION >= 0x030600
    std::string ext("png");
#else
    std::string ext("pgm");
#endif
 
    // Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
    // environment variable value
    env_ipath = vpIoTools::getViSPImagesDataPath();
 
    // Set the default input path
    if (!env_ipath.empty())
      ipath = env_ipath;
 
    // Read the command line options
    if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_click_allowed,
                   opt_display) == false) {
      return EXIT_FAILURE;
    }
 
    // Get the option values
    if (!opt_ipath.empty())
      ipath = opt_ipath;
 
    // Compare ipath and env_ipath. If they differ, we take into account
    // the input path coming from the command line option
    if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
      if (ipath != env_ipath) {
        std::cout << std::endl << "WARNING: " << std::endl;
        std::cout << "  Since -i <visp image path=" << ipath << "> "
          << "  is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
          << "  we skip the environment variable." << std::endl;
      }
    }
 
    // Test if an input path is set
    if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
      usage(argv[0], nullptr, ipath, opt_ppath, opt_first, opt_last, opt_step);
      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
        << "  Use -p <personal image path> option if you want to " << std::endl
        << "  use personal images." << std::endl
        << std::endl;
 
      return EXIT_FAILURE;
    }
 
    // Declare an image, this is a gray level image (unsigned char)
    // it size is not defined yet, it will be defined when the image will
    // read on the disk
    vpImage<unsigned char> vpI; // This is a ViSP image used for display only
    cv::Mat cvI;
 
    unsigned iter = opt_first;
    std::ostringstream s;
    char cfilename[FILENAME_MAX];
 
    if (opt_ppath.empty()) {
 
      // Warning :
      // The image sequence is not provided with the ViSP package
      // therefore the program will return an error :
      //  !!    couldn't read file visp-images/mire-2/image.0001.png
      //
      // ViSP dataset is available on the visp www site
      // https://visp.inria.fr/download/.
 
      // Set the path location of the image sequence
      dirname = vpIoTools::createFilePath(ipath, "mire-2");
 
      // Build the name of the image file
 
      s.setf(std::ios::right, std::ios::adjustfield);
      s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
      filename = vpIoTools::createFilePath(dirname, s.str());
    }
    else {
      snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
      filename = cfilename;
    }
 
    // Read the image named "filename", and put the bitmap into the image structure I.
    // I is initialized to the correct size
    //
    // vpImageIo::read() may throw various exception if, for example,
    // the file does not exist, or if the memory cannot be allocated
    try {
      std::cout << "Load: " << filename << std::endl;
 
      // Load a ViSP image used for the display
      vpImageIo::read(vpI, filename);
      vpImageConvert::convert(vpI, cvI);
    }
    catch (...) {
   // If an exception is thrown by vpImageIo::read() it will result in the end of the program.
      std::cerr << std::endl << "ERROR:" << std::endl;
      std::cerr << "  Cannot read " << filename << std::endl;
      if (opt_ppath.empty()) {
        std::cerr << "  Check your -i " << ipath << " option " << std::endl
          << "  or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
      }
      else {
        std::cerr << "  Check your -p " << opt_ppath << " option " << std::endl;
      }
      return EXIT_FAILURE;
    }
 
// We open a window using either X11, GTK or GDI.
#if defined(VISP_HAVE_X11)
    vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
    vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
    vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
    vpDisplayOpenCV display;
#endif
 
    if (opt_display) {
      // Display size is automatically defined by the image (I) size
      display.init(vpI, 100, 100, "Display...");
      // Display the image
      // The image class has a member that specify a pointer toward
      // the display that has been initialized in the display declaration
      // therefore is is no longer necessary to make a reference to the
      // display variable.
      vpDisplay::display(vpI);
      vpDisplay::flush(vpI);
    }
 
    // KLT tracker
    vpKltOpencv tracker;
 
    // Event manager
    // tracker.setOnNewFeature(&newFeature);
    // tracker.setOnFeatureLost(&lostFeature);
    // tracker.setIsFeatureValid(&isValid);
 
    // Tracker parameters
    tracker.setTrackerId(1);
    // tracker.setOnMeasureFeature(&modifyFeature);
    tracker.setMaxFeatures(200);
    tracker.setWindowSize(10);
    tracker.setQuality(0.01);
    tracker.setMinDistance(15);
    tracker.setHarrisFreeParameter(0.04);
    tracker.setBlockSize(9);
    tracker.setUseHarris(1);
    tracker.setPyramidLevels(3);
 
    // Point detection using Harris. In input we have an OpenCV IPL image
    tracker.initTracking(cvI);
 
    if (opt_display) {
      // Plot the Harris points on ViSP image
      tracker.display(vpI, vpColor::red);
    }
 
    // tracking is now initialized. We can start the tracker.
    while (iter < opt_last) {
      // set the new image name
      if (opt_ppath.empty()) {
        s.str("");
        s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
        filename = vpIoTools::createFilePath(dirname, s.str());
      }
      else {
        snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
        filename = cfilename;
      }
      // read the image
      vpImageIo::read(vpI, filename);
      vpImageConvert::convert(vpI, cvI);
 
      // track the dot and returns its coordinates in the image
      // results are given in float since many many are usually considered
      //
      // an exception is thrown by the track method if
      //  - dot is lost
 
      if (opt_display) {
        // Display the image
        vpDisplay::display(vpI);
      }
 
      std::cout << "Tracking on image: " << filename << std::endl;
      double time = vpTime::measureTimeMs();
      // Tracking of the detected points
      tracker.track(cvI);
      std::cout << "Tracking performed in " << vpTime::measureTimeMs() - time << " ms" << std::endl;
 
      if (opt_display) {
        // Display the tracked points
        tracker.display(vpI, vpColor::red);
 
        vpDisplay::flush(vpI);
      }
      iter += opt_step;
    }
    if (opt_display && opt_click_allowed) {
      std::cout << "\nA click to exit..." << std::endl;
      // Wait for a blocking mouse click
      vpDisplay::getClick(vpI);
    }
    return EXIT_SUCCESS;
  }
  catch (const vpException &e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return EXIT_FAILURE;
  }
}
#else
int main()
{
  std::cout << "You do not have OpenCV functionalities to display images..." << std::endl;
  std::cout << "Tip:" << std::endl;
  std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
  return EXIT_SUCCESS;
}
#endif
#else
#include <iostream>
 
int main()
{
  std::cout << "visp_klt module or X11, GTK, GDI or OpenCV display "
    "functionalities are required..."
    << std::endl;
  }
 
#endif