Visual Servoing Platform  version 3.6.1 under development (2025-02-05)
tutorial-detection-object-mbt2-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 #ifdef ENABLE_VISP_NAMESPACE
12 using namespace VISP_NAMESPACE_NAME;
13 #endif
14 
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))
18 
19 void learnCube(const vpImage<unsigned char> &I, vpMbEdgeTracker &tracker, vpKeyPoint &keypoint_learning, int id)
20 {
22  std::vector<cv::KeyPoint> trainKeyPoints;
23  double elapsedTime;
24  keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
26 
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;
32  roisPt = pair.second;
33 
34  std::vector<cv::Point3f> points3f;
36  tracker.getPose(cMo);
38  tracker.getCameraParameters(cam);
39  vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
41 
43  keypoint_learning.buildReference(I, trainKeyPoints, points3f, true, id);
45 
47  for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
48  vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
49  }
51 }
52 #endif
53 
54 int main(int argc, char **argv)
55 {
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))
58 
60  try {
61  std::string videoname = "cube.mp4";
62 
63  for (int i = 1; i < argc; i++) {
64  if (std::string(argv[i]) == "--name" && i + 1 < argc) {
65  videoname = std::string(argv[++i]);
66  }
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;
71  return EXIT_SUCCESS;
72  }
73  }
74  std::string parentname = vpIoTools::getParent(videoname);
75  std::string objectname = vpIoTools::getNameWE(videoname);
76 
77  if (!parentname.empty())
78  objectname = parentname + "/" + objectname;
79 
80  std::cout << "Video name: " << videoname << std::endl;
81  std::cout << "Tracker requested config files: " << objectname << ".[init,"
82  << "xml,"
83  << "cao or wrl]" << std::endl;
84  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
85 
89 
90  vpMbEdgeTracker tracker;
91  bool usexml = false;
92 #if defined(VISP_HAVE_PUGIXML)
93  if (vpIoTools::checkFilename(objectname + ".xml")) {
94  tracker.loadConfigFile(objectname + ".xml");
95  tracker.getCameraParameters(cam);
96  usexml = true;
97  }
98 #endif
99  if (!usexml) {
100  vpMe me;
101  me.setMaskSize(5);
102  me.setMaskNumber(180);
103  me.setRange(7);
105  me.setThreshold(20);
106  me.setMu1(0.5);
107  me.setMu2(0.5);
108  me.setSampleStep(4);
109  me.setNbTotalSample(250);
110  tracker.setMovingEdge(me);
111  cam.initPersProjWithoutDistortion(547, 542, 339, 235);
112  tracker.setCameraParameters(cam);
113  tracker.setAngleAppear(vpMath::rad(89));
114  tracker.setAngleDisappear(vpMath::rad(89));
115  tracker.setNearClippingDistance(0.01);
116  tracker.setFarClippingDistance(10.0);
118  }
119 
120  tracker.setOgreVisibilityTest(false);
121  if (vpIoTools::checkFilename(objectname + ".cao"))
122  tracker.loadModel(objectname + ".cao");
123  else if (vpIoTools::checkFilename(objectname + ".wrl"))
124  tracker.loadModel(objectname + ".wrl");
125  tracker.setDisplayFeatures(true);
127 
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);
133 #else
134  cv::Ptr<cv::ORB> orb_learning = keypoint_learning.getDetector("ORB").dynamicCast<cv::ORB>();
135  if (orb_learning) {
136  orb_learning->setNLevels(1);
137  }
138 #endif
139 #endif
141 
142 #if defined(VISP_HAVE_X11)
143  vpDisplayX display;
144 #elif defined(VISP_HAVE_GDI)
145  vpDisplayGDI display;
146 #elif defined(HAVE_OPENCV_HIGHGUI)
147  vpDisplayOpenCV display;
148 #else
149  std::cout << "No image viewer is available..." << std::endl;
150  return EXIT_FAILURE;
151 #endif
152 
153  /*
154  * Start the part of the code dedicated to object learning from 3 images
155  */
156  std::string imageName[] = { "cube0001.png", "cube0150.png", "cube0200.png" };
157  vpHomogeneousMatrix initPoseTab[] = {
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++) {
162  vpImageIo::read(I, imageName[i]);
163  if (i == 0) {
164  display.init(I, 10, 10);
165  }
166  std::stringstream title;
167  title << "Learning cube on image: " << imageName[i];
168  vpDisplay::setTitle(I, title.str().c_str());
169 
171 
173  tracker.setPose(I, initPoseTab[i]);
175 
177  tracker.track(I);
179 
181  tracker.getPose(cMo);
182  tracker.display(I, cMo, cam, vpColor::red);
184 
186  learnCube(I, tracker, keypoint_learning, i);
188 
189  vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible cube faces", vpColor::red);
190  if (i < 2) {
191  vpDisplay::displayText(I, 30, 10, "Click to continue the learning...", vpColor::red);
192  }
193  else {
194  vpDisplay::displayText(I, 30, 10, "Click to continue with the detection...", vpColor::red);
195  }
196 
197  vpDisplay::flush(I);
198  vpDisplay::getClick(I, true);
199  }
200 
202  keypoint_learning.saveLearningData("cube_learning_data.bin", true);
204 
205  /*
206  * Start the part of the code dedicated to detection and localization
207  */
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);
213 #else
214  cv::Ptr<cv::ORB> orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
215  orb_detector = keypoint_detection.getDetector("ORB").dynamicCast<cv::ORB>();
216  if (orb_detector) {
217  orb_detector->setNLevels(1);
218  }
219 #endif
220 #endif
222 
224  keypoint_detection.loadLearningData("cube_learning_data.bin", true);
226 
228  vpImage<unsigned char> IMatching;
229  keypoint_detection.createImageMatching(I, IMatching);
231 
232  vpVideoReader g;
233  g.setFileName(videoname);
234  g.open(I);
235 
236 #if defined(VISP_HAVE_X11)
237  vpDisplayX display2;
238 #elif defined(VISP_HAVE_GTK)
239  vpDisplayGTK display2;
240 #elif defined(VISP_HAVE_GDI)
241  vpDisplayGDI display2;
242 #elif defined(HAVE_OPENCV_HIGHGUI)
243  vpDisplayOpenCV display2;
244 #endif
245  display2.init(IMatching, 50, 50, "Display matching between learned and current images");
246  vpDisplay::setTitle(I, "Cube detection and localization");
247 
248  double error;
249  bool click_done = false;
250 
251  while (!g.end()) {
252  g.acquire(I);
254 
256  keypoint_detection.insertImageMatching(I, IMatching);
258 
259  vpDisplay::display(IMatching);
260  vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
261 
262  double elapsedTime;
264  if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
266 
268  tracker.setPose(I, cMo);
270 
272  tracker.display(I, cMo, cam, vpColor::red, 2);
273  vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::none, 3);
275 
276  keypoint_detection.displayMatching(I, IMatching);
277 
279  std::vector<vpImagePoint> ransacInliers = keypoint_detection.getRansacInliers();
280  std::vector<vpImagePoint> ransacOutliers = keypoint_detection.getRansacOutliers();
282 
284  for (std::vector<vpImagePoint>::const_iterator it = ransacInliers.begin(); it != ransacInliers.end(); ++it) {
286  vpImagePoint imPt(*it);
287  imPt.set_u(imPt.get_u() + I.getWidth());
288  imPt.set_v(imPt.get_v() + I.getHeight());
289  vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::green);
290  }
292 
294  for (std::vector<vpImagePoint>::const_iterator it = ransacOutliers.begin(); it != ransacOutliers.end(); ++it) {
296  vpImagePoint imPt(*it);
297  imPt.set_u(imPt.get_u() + I.getWidth());
298  imPt.set_v(imPt.get_v() + I.getHeight());
299  vpDisplay::displayCircle(IMatching, imPt, 4, vpColor::red);
300  }
302 
304  keypoint_detection.displayMatching(I, IMatching);
306 
308  vpCameraParameters cam2;
309  cam2.initPersProjWithoutDistortion(cam.get_px(), cam.get_py(), cam.get_u0() + I.getWidth(),
310  cam.get_v0() + I.getHeight());
311  tracker.setCameraParameters(cam2);
312  tracker.setPose(IMatching, cMo);
313  tracker.display(IMatching, cMo, cam2, vpColor::red, 2);
314  vpDisplay::displayFrame(IMatching, cMo, cam2, 0.05, vpColor::none, 3);
316  }
317 
318  vpDisplay::flush(I);
319  vpDisplay::displayText(IMatching, 30, 10, "A click to exit.", vpColor::red);
320  vpDisplay::flush(IMatching);
321  if (vpDisplay::getClick(I, false)) {
322  click_done = true;
323  break;
324  }
325  if (vpDisplay::getClick(IMatching, false)) {
326  click_done = true;
327  break;
328  }
329  }
330 
331  if (!click_done)
332  vpDisplay::getClick(IMatching);
333  }
334  catch (const vpException &e) {
335  std::cout << "Catch an exception: " << e << std::endl;
336  }
337 #else
338  (void)argc;
339  (void)argv;
340  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
341 #endif
342 
343  return EXIT_SUCCESS;
344 }
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
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:130
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:133
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.
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)