1 #include <visp3/core/vpConfig.h>
3 #include <visp3/core/vpIoTools.h>
4 #include <visp3/gui/vpDisplayFactory.h>
5 #include <visp3/io/vpVideoReader.h>
6 #include <visp3/mbt/vpMbEdgeTracker.h>
7 #include <visp3/vision/vpKeyPoint.h>
9 #ifdef ENABLE_VISP_NAMESPACE
13 #if defined(HAVE_OPENCV_IMGPROC) && defined(VISP_HAVE_DISPLAY) && \
14 ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
15 ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES))
20 std::vector<cv::KeyPoint> trainKeyPoints;
22 keypoint_learning.
detect(I, trainKeyPoints, elapsedTime);
26 std::vector<vpPolygon> polygons;
27 std::vector<std::vector<vpPoint> > roisPt;
28 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.
getPolygonFaces();
29 polygons = pair.first;
32 std::vector<cv::Point3f> points3f;
41 keypoint_learning.
buildReference(I, trainKeyPoints, points3f,
true,
id);
45 for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
52 int main(
int argc,
char **argv)
54 #if defined(HAVE_OPENCV_IMGPROC) && \
55 ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
58 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
59 std::shared_ptr<vpDisplay> display, display2;
65 std::string videoname =
"cube.mp4";
67 for (
int i = 1; i < argc; i++) {
68 if (std::string(argv[i]) ==
"--name" && i + 1 < argc) {
69 videoname = std::string(argv[++i]);
71 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
72 std::cout <<
"\nUsage: " << argv[0]
73 <<
" [--name <video name>]"
74 <<
"[--help] [-h]\n" << std::endl;
81 if (!parentname.empty())
82 objectname = parentname +
"/" + objectname;
84 std::cout <<
"Video name: " << videoname << std::endl;
85 std::cout <<
"Tracker requested config files: " << objectname <<
".[init,"
87 <<
"cao or wrl]" << std::endl;
88 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
96 #if defined(VISP_HAVE_PUGIXML)
133 vpKeyPoint keypoint_learning(
"ORB",
"ORB",
"BruteForce-Hamming");
134 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
135 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
136 keypoint_learning.setDetectorParameter(
"ORB",
"nLevels", 1);
138 cv::Ptr<cv::ORB> orb_learning = keypoint_learning.
getDetector(
"ORB").dynamicCast<cv::ORB>();
140 orb_learning->setNLevels(1);
149 std::string imageName[] = {
"cube0001.png",
"cube0150.png",
"cube0200.png" };
151 vpHomogeneousMatrix(0.02143385294, 0.1098083886, 0.5127439561, 2.087159614, 1.141775176, -0.4701291124),
152 vpHomogeneousMatrix(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828),
153 vpHomogeneousMatrix(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025) };
154 for (
int i = 0; i < 3; i++) {
157 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
163 std::stringstream title;
164 title <<
"Learning cube on image: " << imageName[i];
170 tracker.
setPose(I, initPoseTab[i]);
183 learnCube(I, tracker, keypoint_learning, i);
206 vpKeyPoint keypoint_detection(
"ORB",
"ORB",
"BruteForce-Hamming");
207 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
208 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
209 keypoint_detection.setDetectorParameter(
"ORB",
"nLevels", 1);
211 cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
212 orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
214 orb_detector->setNLevels(1);
221 keypoint_detection.loadLearningData(
"cube_learning_data.bin",
true);
226 keypoint_detection.createImageMatching(I, IMatching);
233 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
241 bool click_done =
false;
248 keypoint_detection.insertImageMatching(I, IMatching);
256 if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
268 keypoint_detection.displayMatching(I, IMatching);
271 std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
272 std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
276 for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
279 imPt.set_u(imPt.get_u() + I.
getWidth());
280 imPt.set_v(imPt.get_v() + I.
getHeight());
286 for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
289 imPt.set_u(imPt.get_u() + I.
getWidth());
290 imPt.set_v(imPt.get_v() + I.
getHeight());
296 keypoint_detection.displayMatching(I, IMatching);
304 tracker.
setPose(IMatching, cMo);
327 std::cout <<
"Catch an exception: " << e << std::endl;
330 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
331 if (display !=
nullptr) {
335 if (display2 !=
nullptr) {
342 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor none
static const vpColor green
Class that defines generic functionalities for display.
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void displayCircle(const vpImage< unsigned char > &I, const vpImageCircle &circle, const vpColor &color, bool fill=false, unsigned int thickness=1)
static void display(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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
static void setTitle(const vpImage< unsigned char > &I, const std::string &windowtitle)
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
unsigned int getWidth() const
unsigned int getHeight() const
Class that allows keypoints 2D features detection (and descriptors extraction) and matching thanks to...
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
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=nullptr)
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
unsigned int buildReference(const vpImage< unsigned char > &I)
cv::Ptr< cv::FeatureDetector > getDetector(const vpFeatureDetectorType &type) const
static double rad(double deg)
Make the complete tracking of an object by using its CAD model.
virtual void setNearClippingDistance(const double &dist) VP_OVERRIDE
virtual void track(const vpImage< unsigned char > &I) VP_OVERRIDE
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) VP_OVERRIDE
virtual void setFarClippingDistance(const double &dist) VP_OVERRIDE
virtual void setOgreVisibilityTest(const bool &v) VP_OVERRIDE
virtual void setClipping(const unsigned int &flags) VP_OVERRIDE
void setMovingEdge(const vpMe &me)
virtual void setCameraParameters(const vpCameraParameters &cam) VP_OVERRIDE
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) VP_OVERRIDE
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) VP_OVERRIDE
virtual void getCameraParameters(vpCameraParameters &cam) const
virtual void setDisplayFeatures(bool displayF)
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setAngleDisappear(const double &a)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
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
void setMu1(const double &mu_1)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setNbTotalSample(const int &ntotal_sample)
void setMaskNumber(const unsigned int &mask_number)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void setMaskSize(const unsigned int &mask_size)
void setMu2(const double &mu_2)
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)
std::shared_ptr< vpDisplay > createDisplay()
Return a smart pointer vpDisplay specialization if a GUI library is available or nullptr otherwise.
vpDisplay * allocateDisplay()
Return a newly allocated vpDisplay specialization if a GUI library is available or nullptr otherwise.