Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-detection-object-mbt-deprecated.cpp
1 #include <visp3/core/vpConfig.h>
3 #include <visp3/core/vpIoTools.h>
4 #include <visp3/gui/vpDisplayGDI.h>
5 #include <visp3/gui/vpDisplayOpenCV.h>
6 #include <visp3/gui/vpDisplayX.h>
7 #include <visp3/io/vpVideoReader.h>
8 #include <visp3/mbt/vpMbEdgeTracker.h>
9 #include <visp3/vision/vpKeyPoint.h>
10 
11 int main(int argc, char **argv)
12 {
13 #if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
15  try {
16  std::string videoname = "teabox.mp4";
17 
18  for (int i = 0; i < argc; i++) {
19  if (std::string(argv[i]) == "--name")
20  videoname = std::string(argv[i + 1]);
21  else if (std::string(argv[i]) == "--help") {
22  std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
23  return 0;
24  }
25  }
26  std::string parentname = vpIoTools::getParent(videoname);
27  std::string objectname = vpIoTools::getNameWE(videoname);
28 
29  if (!parentname.empty())
30  objectname = parentname + "/" + objectname;
31 
32  std::cout << "Video name: " << videoname << std::endl;
33  std::cout << "Tracker requested config files: " << objectname << ".[init,"
34  << "xml,"
35  << "cao or wrl]" << std::endl;
36  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
37 
41 
42  vpVideoReader g;
43  g.setFileName(videoname);
44  g.open(I);
45 
46 #if defined(VISP_HAVE_X11)
47  vpDisplayX display;
48 #elif defined(VISP_HAVE_GDI)
49  vpDisplayGDI display;
50 #elif defined(VISP_HAVE_OPENCV)
51  vpDisplayOpenCV display;
52 #else
53  std::cout << "No image viewer is available..." << std::endl;
54  return 0;
55 #endif
56 
57  display.init(I, 100, 100, "Model-based edge tracker");
58 
59  vpMbEdgeTracker tracker;
60  bool usexml = false;
61  if (vpIoTools::checkFilename(objectname + ".xml")) {
62  tracker.loadConfigFile(objectname + ".xml");
63  tracker.getCameraParameters(cam);
64  usexml = true;
65  }
66  if (!usexml) {
67  vpMe me;
68  me.setMaskSize(5);
69  me.setMaskNumber(180);
70  me.setRange(8);
71  me.setThreshold(10000);
72  me.setMu1(0.5);
73  me.setMu2(0.5);
74  me.setSampleStep(4);
75  me.setNbTotalSample(250);
76  tracker.setMovingEdge(me);
77  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
78  tracker.setCameraParameters(cam);
79  tracker.setAngleAppear(vpMath::rad(70));
80  tracker.setAngleDisappear(vpMath::rad(80));
81  tracker.setNearClippingDistance(0.1);
82  tracker.setFarClippingDistance(100.0);
84  }
85 
86  tracker.setOgreVisibilityTest(false);
87  if (vpIoTools::checkFilename(objectname + ".cao"))
88  tracker.loadModel(objectname + ".cao");
89  else if (vpIoTools::checkFilename(objectname + ".wrl"))
90  tracker.loadModel(objectname + ".wrl");
91  tracker.setDisplayFeatures(true);
92  tracker.initClick(I, objectname + ".init", true);
93  tracker.track(I);
95 
97 #if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
98  (VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
99  std::string detectorName = "SIFT";
100  std::string extractorName = "SIFT";
101  std::string matcherName = "BruteForce";
102  std::string configurationFile = "detection-config-SIFT.xml";
103 #else
104  std::string detectorName = "FAST";
105  std::string extractorName = "ORB";
106  std::string matcherName = "BruteForce-Hamming";
107  std::string configurationFile = "detection-config.xml";
108 #endif
110 
112  vpKeyPoint keypoint_learning;
114  if (usexml) {
116  keypoint_learning.loadConfigFile(configurationFile);
118  } else {
120  keypoint_learning.setDetector(detectorName);
121  keypoint_learning.setExtractor(extractorName);
122  keypoint_learning.setMatcher(matcherName);
124  }
125 
127  std::vector<cv::KeyPoint> trainKeyPoints;
128  double elapsedTime;
129  keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
131 
133  std::vector<vpPolygon> polygons;
134  std::vector<std::vector<vpPoint> > roisPt;
135  std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.getPolygonFaces(false);
136  polygons = pair.first;
137  roisPt = pair.second;
138 
139  std::vector<cv::Point3f> points3f;
140  tracker.getPose(cMo);
141  vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
143 
145  keypoint_learning.buildReference(I, trainKeyPoints, points3f);
147 
149  keypoint_learning.saveLearningData("teabox_learning_data.bin", true);
151 
154  for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
155  vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
156  }
157  vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible teabox faces", vpColor::red);
158  vpDisplay::displayText(I, 30, 10, "Click to continue with detection...", vpColor::red);
159  vpDisplay::flush(I);
160  vpDisplay::getClick(I, true);
162 
164  vpKeyPoint keypoint_detection;
165  if (usexml) {
166  keypoint_detection.loadConfigFile(configurationFile);
167  } else {
168  keypoint_detection.setDetector(detectorName);
169  keypoint_detection.setExtractor(extractorName);
170  keypoint_detection.setMatcher(matcherName);
172  keypoint_detection.setMatchingRatioThreshold(0.8);
173  keypoint_detection.setUseRansacVVS(true);
174  keypoint_detection.setUseRansacConsensusPercentage(true);
175  keypoint_detection.setRansacConsensusPercentage(20.0);
176  keypoint_detection.setRansacIteration(200);
177  keypoint_detection.setRansacThreshold(0.005);
178  }
180 
182  keypoint_detection.loadLearningData("teabox_learning_data.bin", true);
184 
185  double error;
186  bool click_done = false;
187 
188  while (!g.end()) {
189  g.acquire(I);
191 
192  vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
193 
195  if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
197 
199  tracker.setPose(I, cMo);
202  tracker.display(I, cMo, cam, vpColor::red, 2);
203  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
205  }
206 
207  vpDisplay::displayText(I, 30, 10, "A click to exit.", vpColor::red);
208  vpDisplay::flush(I);
209  if (vpDisplay::getClick(I, false)) {
210  click_done = true;
211  break;
212  }
213  }
214  if (!click_done)
216  } catch (const vpException &e) {
217  std::cout << "Catch an exception: " << e << std::endl;
218  }
219 #else
220  (void)argc;
221  (void)argv;
222  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
223 #endif
224 
225  return 0;
226 }
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 none
Definition: vpColor.h:229
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
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 displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
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.
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:800
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1536
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1620
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:223
unsigned int matchPoint(const vpImage< unsigned char > &I)
void setRansacConsensusPercentage(double percentage)
Definition: vpKeyPoint.h:1002
void setFilterMatchingType(const vpFilterMatchingType &filterType)
Definition: vpKeyPoint.h:938
void setUseRansacVVS(bool ransacVVS)
Definition: vpKeyPoint.h:1148
void setExtractor(const vpFeatureDescriptorType &extractorType)
Definition: vpKeyPoint.h:834
void loadLearningData(const std::string &filename, bool binaryMode=false, bool append=false)
void setRansacThreshold(double threshold)
Definition: vpKeyPoint.h:1085
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
void setMatcher(const std::string &matcherName)
Definition: vpKeyPoint.h:910
static void compute3DForPointsInPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidates, const std::vector< vpPolygon > &polygons, const std::vector< std::vector< vpPoint > > &roisPt, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)
Definition: vpKeyPoint.cpp:634
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
void setUseRansacConsensusPercentage(bool usePercentage)
Definition: vpKeyPoint.h:1139
void setMatchingRatioThreshold(double ratio)
Definition: vpKeyPoint.h:987
@ ratioDistanceThreshold
Definition: vpKeyPoint.h:232
void setDetector(const vpFeatureDetectorType &detectorType)
Definition: vpKeyPoint.h:776
unsigned int buildReference(const vpImage< unsigned char > &I)
Definition: vpKeyPoint.cpp:237
void loadConfigFile(const std::string &configFile)
void setRansacIteration(int nbIter)
Definition: vpKeyPoint.h:1023
static double rad(double deg)
Definition: vpMath.h:117
Make the complete tracking of an object by using its CAD model.
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void track(const vpImage< unsigned char > &I)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setClipping(const unsigned int &flags)
virtual void setOgreVisibilityTest(const bool &v)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
void setMovingEdge(const vpMe &me)
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 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 initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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 std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
Definition: vpMe.h:61
void setMu1(const double &mu_1)
Definition: vpMe.h:241
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
void setNbTotalSample(const int &nb)
Definition: vpMe.h:255
void setMu2(const double &mu_2)
Definition: vpMe.h:248
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
void setThreshold(const double &t)
Definition: vpMe.h:300
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 open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)