Visual Servoing Platform  version 3.5.1 under development (2022-07-06)
tutorial-mb-klt-tracker.cpp
1 
2 #include <visp3/core/vpIoTools.h>
3 #include <visp3/gui/vpDisplayGDI.h>
4 #include <visp3/gui/vpDisplayOpenCV.h>
5 #include <visp3/gui/vpDisplayX.h>
6 #include <visp3/io/vpImageIo.h>
7 #include <visp3/io/vpVideoReader.h>
8 #include <visp3/mbt/vpMbKltTracker.h>
9 
10 int main(int argc, char **argv)
11 {
12 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
13 
14  try {
15  std::string videoname = "teabox.mp4";
16 
17  for (int i = 0; i < argc; i++) {
18  if (std::string(argv[i]) == "--name")
19  videoname = std::string(argv[i + 1]);
20  else if (std::string(argv[i]) == "--help") {
21  std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
22  return 0;
23  }
24  }
25  std::string parentname = vpIoTools::getParent(videoname);
26  std::string objectname = vpIoTools::getNameWE(videoname);
27 
28  if (!parentname.empty())
29  objectname = parentname + "/" + objectname;
30 
31  std::cout << "Video name: " << videoname << std::endl;
32  std::cout << "Tracker requested config files: " << objectname << ".[init,"
33  << "xml,"
34  << "cao or wrl]" << std::endl;
35  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
39 
40  vpVideoReader g;
41  g.setFileName(videoname);
42  g.open(I);
43 
44 #if defined(VISP_HAVE_X11)
45  vpDisplayX display;
46 #elif defined(VISP_HAVE_GDI)
47  vpDisplayGDI display;
48 #elif defined(VISP_HAVE_OPENCV)
49  vpDisplayOpenCV display;
50 #else
51  std::cout << "No image viewer is available..." << std::endl;
52  return 0;
53 #endif
54 
55  display.init(I, 100, 100, "Model-based keypoint tracker");
56 
57  vpMbKltTracker tracker;
58  bool usexml = false;
60  if (vpIoTools::checkFilename(objectname + ".xml")) {
61  tracker.loadConfigFile(objectname + ".xml");
62  usexml = true;
63  }
65  if (!usexml) {
67  vpKltOpencv klt_settings;
68  klt_settings.setMaxFeatures(300);
69  klt_settings.setWindowSize(5);
70  klt_settings.setQuality(0.015);
71  klt_settings.setMinDistance(8);
72  klt_settings.setHarrisFreeParameter(0.01);
73  klt_settings.setBlockSize(3);
74  klt_settings.setPyramidLevels(3);
75  tracker.setKltOpencv(klt_settings);
76  tracker.setKltMaskBorder(5);
77  cam.initPersProjWithoutDistortion(839, 839, 325, 243);
78  tracker.setCameraParameters(cam);
79  tracker.setAngleAppear(vpMath::rad(70));
80  tracker.setAngleDisappear(vpMath::rad(80));
81  tracker.setNearClippingDistance(0.1);
82  tracker.setFarClippingDistance(100.0);
85  }
86  tracker.setOgreVisibilityTest(true);
87  tracker.setOgreShowConfigDialog(false);
88  tracker.loadModel(objectname + "-triangle.cao");
89  tracker.setDisplayFeatures(true);
90  tracker.initClick(I, objectname + ".init", true);
91 
92  while (!g.end()) {
93  g.acquire(I);
95  tracker.track(I);
96  tracker.getPose(cMo);
97  tracker.getCameraParameters(cam);
98  tracker.display(I, cMo, cam, vpColor::red, 2);
99  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
100  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
101  vpDisplay::flush(I);
102 
103  if (vpDisplay::getClick(I, false))
104  break;
105  }
107  } catch (const vpException &e) {
108  std::cout << "Catch a ViSP exception: " << e << std::endl;
109  }
110 #ifdef VISP_HAVE_OGRE
111  catch (Ogre::Exception &e) {
112  std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
113  }
114 #endif
115 #else
116  (void)argc;
117  (void)argv;
118  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
119 #endif
120 }
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
Implementation of an homogeneous matrix and operations on such kind of matrices.
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:800
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)
static double rad(double deg)
Definition: vpMath.h:117
Model based tracker using only KLT.
virtual void track(const vpImage< unsigned char > &I)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
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 setOgreVisibilityTest(const bool &v)
void setCameraParameters(const vpCameraParameters &cam)
void setKltMaskBorder(const unsigned int &e)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:647
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:248
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:518
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:414
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:481
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:470
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
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)