Visual Servoing Platform  version 3.5.1 under development (2022-07-05)
tutorial-mb-generic-tracker-stereo-mono.cpp
#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020300)
try {
std::string opt_videoname = "teabox.mp4";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 1 < argc)
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--tracker" && i + 1 < argc)
opt_tracker = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--tracker <1=egde|2=keypoint|3=hybrid>]"
<< " [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if (opt_tracker < 1 || opt_tracker > 3) {
std::cerr << "Wrong tracker type. Correct values are: "
"1=egde|2=keypoint|3=hybrid."
<< std::endl;
return EXIT_SUCCESS;
}
std::string parentname = vpIoTools::getParent(opt_videoname);
std::string objectname = vpIoTools::getNameWE(opt_videoname);
if (!parentname.empty()) {
objectname = parentname + "/" + objectname;
}
std::cout << "Video name: " << opt_videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
g.setFileName(opt_videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#else
vpDisplayOpenCV display;
#endif
display.init(I, 100, 100, "Model-based tracker");
vpMbGenericTracker tracker(1, opt_tracker);
#if !defined(VISP_HAVE_MODULE_KLT)
if (opt_tracker >= 2) {
std::cout << "KLT and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_SUCCESS;
}
#endif
tracker.loadConfigFile(objectname + ".xml");
#if 0
// Corresponding parameters manually set to have an example code
if (opt_tracker == 1 || opt_tracker == 3) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setThreshold(10000);
me.setMu1(0.5);
me.setMu2(0.5);
tracker.setMovingEdge(me);
}
#ifdef VISP_HAVE_MODULE_KLT
if (opt_tracker == 2 || opt_tracker == 3) {
vpKltOpencv klt_settings;
tracker.setKltMaskBorder(5);
klt_settings.setMaxFeatures(300);
klt_settings.setWindowSize(5);
klt_settings.setQuality(0.015);
klt_settings.setMinDistance(8);
klt_settings.setHarrisFreeParameter(0.01);
klt_settings.setBlockSize(3);
klt_settings.setPyramidLevels(3);
tracker.setKltOpencv(klt_settings);
}
#endif
{
cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
tracker.setCameraParameters(cam);
}
#endif
tracker.loadModel(objectname + ".cao");
tracker.setDisplayFeatures(true);
tracker.initClick(I, objectname + ".init", true);
while (!g.end()) {
g.acquire(I);
tracker.track(I);
tracker.getPose(cMo);
tracker.getCameraParameters(cam);
tracker.display(I, cMo, cam, vpColor::red, 2);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
break;
}
}
} catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
return EXIT_SUCCESS;
#endif
}
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 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
const char * what() const
Definition: vpException.cpp:99
Implementation of an homogeneous matrix and operations on such kind of matrices.
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1536
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1620
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
Real-time 6D object pose tracking using its CAD model.
virtual void setCameraParameters(const vpCameraParameters &camera)
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setDisplayFeatures(bool displayF)
virtual void setKltMaskBorder(const unsigned int &e)
virtual void getCameraParameters(vpCameraParameters &camera) const
virtual void setMovingEdge(const vpMe &me)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void initClick(const vpImage< unsigned char > &I1, const vpImage< unsigned char > &I2, const std::string &initFile1, const std::string &initFile2, bool displayHelp=false, const vpHomogeneousMatrix &T1=vpHomogeneousMatrix(), const vpHomogeneousMatrix &T2=vpHomogeneousMatrix())
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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 track(const vpImage< unsigned char > &I)
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 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)