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>
11 #ifdef ENABLE_VISP_NAMESPACE
15 #if defined(HAVE_OPENCV_IMGPROC) && \
16 ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_CALIB3D) && defined(HAVE_OPENCV_FEATURES2D)) || \
17 ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_3D) && defined(HAVE_OPENCV_FEATURES))
22 std::vector<cv::KeyPoint> trainKeyPoints;
24 keypoint_learning.
detect(I, trainKeyPoints, elapsedTime);
28 std::vector<vpPolygon> polygons;
29 std::vector<std::vector<vpPoint> > roisPt;
30 std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.
getPolygonFaces();
31 polygons = pair.first;
34 std::vector<cv::Point3f> points3f;
43 keypoint_learning.
buildReference(I, trainKeyPoints, points3f,
true,
id);
47 for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
54 int main(
int argc,
char **argv)
56 #if defined(HAVE_OPENCV_IMGPROC) && \
57 ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
61 std::string videoname =
"cube.mp4";
63 for (
int i = 1; i < argc; i++) {
64 if (std::string(argv[i]) ==
"--name" && i + 1 < argc) {
65 videoname = std::string(argv[++i]);
67 else if (std::string(argv[i]) ==
"--help" || std::string(argv[i]) ==
"-h") {
68 std::cout <<
"\nUsage: " << argv[0]
69 <<
" [--name <video name>]"
70 <<
"[--help] [-h]\n" << std::endl;
77 if (!parentname.empty())
78 objectname = parentname +
"/" + objectname;
80 std::cout <<
"Video name: " << videoname << std::endl;
81 std::cout <<
"Tracker requested config files: " << objectname <<
".[init,"
83 <<
"cao or wrl]" << std::endl;
84 std::cout <<
"Tracker optional config files: " << objectname <<
".[ppm]" << std::endl;
92 #if defined(VISP_HAVE_PUGIXML)
129 vpKeyPoint keypoint_learning(
"ORB",
"ORB",
"BruteForce-Hamming");
130 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
131 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
132 keypoint_learning.setDetectorParameter(
"ORB",
"nLevels", 1);
134 cv::Ptr<cv::ORB> orb_learning = keypoint_learning.
getDetector(
"ORB").dynamicCast<cv::ORB>();
136 orb_learning->setNLevels(1);
142 #if defined(VISP_HAVE_X11)
144 #elif defined(VISP_HAVE_GDI)
146 #elif defined(HAVE_OPENCV_HIGHGUI)
149 std::cout <<
"No image viewer is available..." << std::endl;
156 std::string imageName[] = {
"cube0001.png",
"cube0150.png",
"cube0200.png" };
158 vpHomogeneousMatrix(0.02143385294, 0.1098083886, 0.5127439561, 2.087159614, 1.141775176, -0.4701291124),
159 vpHomogeneousMatrix(0.02651282185, -0.03713587374, 0.6873765919, 2.314744454, 0.3492296488, -0.1226054828),
160 vpHomogeneousMatrix(0.02965448956, -0.07283091786, 0.7253526051, 2.300529617, -0.4286674806, 0.1788761025) };
161 for (
int i = 0; i < 3; i++) {
164 display.init(I, 10, 10);
166 std::stringstream title;
167 title <<
"Learning cube on image: " << imageName[i];
173 tracker.
setPose(I, initPoseTab[i]);
186 learnCube(I, tracker, keypoint_learning, i);
209 vpKeyPoint keypoint_detection(
"ORB",
"ORB",
"BruteForce-Hamming");
210 #if ((VISP_HAVE_OPENCV_VERSION < 0x050000) && defined(HAVE_OPENCV_FEATURES2D)) || ((VISP_HAVE_OPENCV_VERSION >= 0x050000) && defined(HAVE_OPENCV_FEATURES))
211 #if (VISP_HAVE_OPENCV_VERSION < 0x030000)
212 keypoint_detection.setDetectorParameter(
"ORB",
"nLevels", 1);
214 cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
215 orb_detector = keypoint_detection.getDetector(
"ORB").dynamicCast<cv::ORB>();
217 orb_detector->setNLevels(1);
224 keypoint_detection.loadLearningData(
"cube_learning_data.bin",
true);
229 keypoint_detection.createImageMatching(I, IMatching);
236 #if defined(VISP_HAVE_X11)
238 #elif defined(VISP_HAVE_GTK)
240 #elif defined(VISP_HAVE_GDI)
242 #elif defined(HAVE_OPENCV_HIGHGUI)
245 display2.
init(IMatching, 50, 50,
"Display matching between learned and current images");
249 bool click_done =
false;
256 keypoint_detection.insertImageMatching(I, IMatching);
264 if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
276 keypoint_detection.displayMatching(I, IMatching);
279 std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
280 std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
284 for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
287 imPt.set_u(imPt.get_u() + I.
getWidth());
288 imPt.set_v(imPt.get_v() + I.
getHeight());
294 for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
297 imPt.set_u(imPt.get_u() + I.
getWidth());
298 imPt.set_v(imPt.get_v() + I.
getHeight());
304 keypoint_detection.displayMatching(I, IMatching);
312 tracker.
setPose(IMatching, cMo);
335 std::cout <<
"Catch an exception: " << e << std::endl;
340 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
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="") VP_OVERRIDE
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)