Visual Servoing Platform  version 3.6.1 under development (2025-02-18)
tutorial-detection-object-mbt2-deprecated.cpp
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>
8 
9 #ifdef ENABLE_VISP_NAMESPACE
10 using namespace VISP_NAMESPACE_NAME;
11 #endif
12 
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))
16 
17 void learnCube(const vpImage<unsigned char> &I, vpMbEdgeTracker &tracker, vpKeyPoint &keypoint_learning, int id)
18 {
20  std::vector<cv::KeyPoint> trainKeyPoints;
21  double elapsedTime;
22  keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
24 
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;
30  roisPt = pair.second;
31 
32  std::vector<cv::Point3f> points3f;
34  tracker.getPose(cMo);
36  tracker.getCameraParameters(cam);
37  vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
39 
41  keypoint_learning.buildReference(I, trainKeyPoints, points3f, true, id);
43 
45  for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
46  vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
47  }
49 }
50 #endif
51 
52 int main(int argc, char **argv)
53 {
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))
56 
58 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
59  std::shared_ptr<vpDisplay> display, display2;
60 #else
61  vpDisplay *display = nullptr;
62  vpDisplay *display2 = nullptr;
63 #endif
64  try {
65  std::string videoname = "cube.mp4";
66 
67  for (int i = 1; i < argc; i++) {
68  if (std::string(argv[i]) == "--name" && i + 1 < argc) {
69  videoname = std::string(argv[++i]);
70  }
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;
75  return EXIT_SUCCESS;
76  }
77  }
78  std::string parentname = vpIoTools::getParent(videoname);
79  std::string objectname = vpIoTools::getNameWE(videoname);
80 
81  if (!parentname.empty())
82  objectname = parentname + "/" + objectname;
83 
84  std::cout << "Video name: " << videoname << std::endl;
85  std::cout << "Tracker requested config files: " << objectname << ".[init,"
86  << "xml,"
87  << "cao or wrl]" << std::endl;
88  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
89 
93 
94  vpMbEdgeTracker tracker;
95  bool usexml = false;
96 #if defined(VISP_HAVE_PUGIXML)
97  if (vpIoTools::checkFilename(objectname + ".xml")) {
98  tracker.loadConfigFile(objectname + ".xml");
99  tracker.getCameraParameters(cam);
100  usexml = true;
101  }
102 #endif
103  if (!usexml) {
104  vpMe me;
105  me.setMaskSize(5);
106  me.setMaskNumber(180);
107  me.setRange(7);
109  me.setThreshold(20);
110  me.setMu1(0.5);
111  me.setMu2(0.5);
112  me.setSampleStep(4);
113  me.setNbTotalSample(250);
114  tracker.setMovingEdge(me);
115  cam.initPersProjWithoutDistortion(547, 542, 339, 235);
116  tracker.setCameraParameters(cam);
117  tracker.setAngleAppear(vpMath::rad(89));
118  tracker.setAngleDisappear(vpMath::rad(89));
119  tracker.setNearClippingDistance(0.01);
120  tracker.setFarClippingDistance(10.0);
122  }
123 
124  tracker.setOgreVisibilityTest(false);
125  if (vpIoTools::checkFilename(objectname + ".cao"))
126  tracker.loadModel(objectname + ".cao");
127  else if (vpIoTools::checkFilename(objectname + ".wrl"))
128  tracker.loadModel(objectname + ".wrl");
129  tracker.setDisplayFeatures(true);
131 
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);
137 #else
138  cv::Ptr<cv::ORB> orb_learning = keypoint_learning.getDetector("ORB").dynamicCast<cv::ORB>();
139  if (orb_learning) {
140  orb_learning->setNLevels(1);
141  }
142 #endif
143 #endif
145 
146  /*
147  * Start the part of the code dedicated to object learning from 3 images
148  */
149  std::string imageName[] = { "cube0001.png", "cube0150.png", "cube0200.png" };
150  vpHomogeneousMatrix initPoseTab[] = {
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++) {
155  vpImageIo::read(I, imageName[i]);
156  if (i == 0) {
157 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
158  display = vpDisplayFactory::createDisplay(I, 10, 10);
159 #else
160  display = vpDisplayFactory::allocateDisplay(I, 10, 10);
161 #endif
162  }
163  std::stringstream title;
164  title << "Learning cube on image: " << imageName[i];
165  vpDisplay::setTitle(I, title.str().c_str());
166 
168 
170  tracker.setPose(I, initPoseTab[i]);
172 
174  tracker.track(I);
176 
178  tracker.getPose(cMo);
179  tracker.display(I, cMo, cam, vpColor::red);
181 
183  learnCube(I, tracker, keypoint_learning, i);
185 
186  vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible cube faces", vpColor::red);
187  if (i < 2) {
188  vpDisplay::displayText(I, 30, 10, "Click to continue the learning...", vpColor::red);
189  }
190  else {
191  vpDisplay::displayText(I, 30, 10, "Click to continue with the detection...", vpColor::red);
192  }
193 
194  vpDisplay::flush(I);
195  vpDisplay::getClick(I, true);
196  }
197 
199  keypoint_learning.saveLearningData("cube_learning_data.bin", true);
201 
202  /*
203  * Start the part of the code dedicated to detection and localization
204  */
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);
210 #else
211  cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
212  orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
213  if (orb_detector) {
214  orb_detector->setNLevels(1);
215  }
216 #endif
217 #endif
219 
221  keypoint_detection.loadLearningData("cube_learning_data.bin", true);
223 
225  vpImage<unsigned char> IMatching;
226  keypoint_detection.createImageMatching(I, IMatching);
228 
229  vpVideoReader g;
230  g.setFileName(videoname);
231  g.open(I);
232 
233 #if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
234  display2 = vpDisplayFactory::createDisplay(IMatching, 50, 50, "Display matching between learned and current images");
235 #else
236  display2 = vpDisplayFactory::allocateDisplay(IMatching, 50, 50, "Display matching between learned and current images");
237 #endif
238  vpDisplay::setTitle(I, "Cube detection and localization");
239 
240  double error;
241  bool click_done = false;
242 
243  while (!g.end()) {
244  g.acquire(I);
246 
248  keypoint_detection.insertImageMatching(I, IMatching);
250 
251  vpDisplay::display(IMatching);
252  vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
253 
254  double elapsedTime;
256  if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
258 
260  tracker.setPose(I, cMo);
262 
264  tracker.display(I, cMo, cam, vpColor::red, 2);
265  vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
267 
268  keypoint_detection.displayMatching(I, IMatching);
269 
271  std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
272  std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
274 
276  for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
278  vpImagePoint imPt(*it);
279  imPt.set_u(imPt.get_u() + I.getWidth());
280  imPt.set_v(imPt.get_v() + I.getHeight());
281  vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::green);
282  }
284 
286  for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
288  vpImagePoint imPt(*it);
289  imPt.set_u(imPt.get_u() + I.getWidth());
290  imPt.set_v(imPt.get_v() + I.getHeight());
291  vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::red);
292  }
294 
296  keypoint_detection.displayMatching(I, IMatching);
298 
300  vpCameraParameters cam2;
301  cam2.initPersProjWithoutDistortion(cam.get_px(), cam.get_py(), cam.get_u0() + I.getWidth(),
302  cam.get_v0() + I.getHeight());
303  tracker.setCameraParameters(cam2);
304  tracker.setPose(IMatching, cMo);
305  tracker.display(IMatching, cMo, cam2, vpColor::red, 2);
306  vpDisplay::displayFrame(IMatching, cMo, cam2, 0.05, vpColor::none, 3);
308  }
309 
310  vpDisplay::flush(I);
311  vpDisplay::displayText(IMatching, 30, 10, "A click to exit.", vpColor::red);
312  vpDisplay::flush(IMatching);
313  if (vpDisplay::getClick(I, false)) {
314  click_done = true;
315  break;
316  }
317  if (vpDisplay::getClick(IMatching, false)) {
318  click_done = true;
319  break;
320  }
321  }
322 
323  if (!click_done)
324  vpDisplay::getClick(IMatching);
325  }
326  catch (const vpException &e) {
327  std::cout << "Catch an exception: " << e << std::endl;
328  }
329 
330 #if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
331  if (display != nullptr) {
332  delete display;
333  }
334 
335  if (display2 != nullptr) {
336  delete display2;
337  }
338 #endif
339 #else
340  (void)argc;
341  (void)argv;
342  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
343 #endif
344 
345  return EXIT_SUCCESS;
346 }
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor red
Definition: vpColor.h:198
static const vpColor none
Definition: vpColor.h:210
static const vpColor green
Definition: vpColor.h:201
Class that defines generic functionalities for display.
Definition: vpDisplay.h:178
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.
Definition: vpException.h:60
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)
Definition: vpImageIo.cpp:147
Class that defines a 2D point in an image. This class is useful for image processing and stores only ...
Definition: vpImagePoint.h:82
unsigned int getWidth() const
Definition: vpImage.h:242
unsigned int getHeight() const
Definition: vpImage.h:181
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:786
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1227
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1314
Class that allows keypoints 2D features detection (and descriptors extraction) and matching thanks to...
Definition: vpKeyPoint.h:267
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
Definition: vpKeyPoint.cpp:989
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)
Definition: vpKeyPoint.cpp:481
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
unsigned int buildReference(const vpImage< unsigned char > &I)
Definition: vpKeyPoint.cpp:211
cv::Ptr< cv::FeatureDetector > getDetector(const vpFeatureDetectorType &type) const
Definition: vpKeyPoint.h:1091
static double rad(double deg)
Definition: vpMath.h:129
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
Definition: vpMbTracker.h:250
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:520
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:416
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:483
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:472
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:258
Definition: vpMe.h:134
void setMu1(const double &mu_1)
Definition: vpMe.h:385
void setRange(const unsigned int &range)
Definition: vpMe.h:415
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition: vpMe.h:505
void setNbTotalSample(const int &ntotal_sample)
Definition: vpMe.h:399
void setMaskNumber(const unsigned int &mask_number)
Definition: vpMe.cpp:552
void setThreshold(const double &threshold)
Definition: vpMe.h:466
void setSampleStep(const double &sample_step)
Definition: vpMe.h:422
void setMaskSize(const unsigned int &mask_size)
Definition: vpMe.cpp:560
void setMu2(const double &mu_2)
Definition: vpMe.h:392
@ NORMALIZED_THRESHOLD
Definition: vpMe.h:145
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.