Visual Servoing Platform  version 3.5.1 under development (2022-07-03)
tutorial-mb-tracker-full.cpp
1 #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>
8 #include <visp3/mbt/vpMbEdgeKltTracker.h>
9 #include <visp3/mbt/vpMbEdgeTracker.h>
11 #include <visp3/io/vpVideoReader.h>
12 
13 int main(int argc, char **argv)
14 {
15 #if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
16 
17  try {
18  std::string opt_videoname = "teabox.mp4";
19  std::string opt_modelname = "teabox.cao";
20  int opt_tracker = 0;
21 
22  for (int i = 0; i < argc; i++) {
23  if (std::string(argv[i]) == "--video")
24  opt_videoname = std::string(argv[i + 1]);
25  else if (std::string(argv[i]) == "--model")
26  opt_modelname = std::string(argv[i + 1]);
27  else if (std::string(argv[i]) == "--tracker")
28  opt_tracker = atoi(argv[i + 1]);
29  else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
30  std::cout << "\nUsage: " << argv[0]
31  << " [--video <video name>] [--model <model name>] "
32  "[--tracker <0=egde|1=keypoint|2=hybrid>] [--help] [-h]\n"
33  << std::endl;
34  return 0;
35  }
36  }
37  std::string parentname = vpIoTools::getParent(opt_modelname);
38  std::string objectname = vpIoTools::getNameWE(opt_modelname);
39 
40  if (!parentname.empty())
41  objectname = parentname + "/" + objectname;
42 
43  std::cout << "Video name: " << opt_videoname << std::endl;
44  std::cout << "Tracker requested config files: " << objectname << ".[init,"
45  << "xml,"
46  << "cao or wrl]" << std::endl;
47  std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
48 
56 
57  vpVideoReader g;
58  g.setFileName(opt_videoname);
59  g.open(I);
60 
61  vpDisplay *display = NULL;
62 #if defined(VISP_HAVE_X11)
63  display = new vpDisplayX;
64 #elif defined(VISP_HAVE_GDI)
65  display = new vpDisplayGDI;
66 #else
67  display = new vpDisplayOpenCV;
68 #endif
69  display->init(I, 100, 100, "Model-based tracker");
70 
72  vpMbTracker *tracker;
73  if (opt_tracker == 0)
74  tracker = new vpMbEdgeTracker;
75 #ifdef VISP_HAVE_MODULE_KLT
76  else if (opt_tracker == 1)
77  tracker = new vpMbKltTracker;
78  else
79  tracker = new vpMbEdgeKltTracker;
80 #else
81  else {
82  std::cout << "klt and hybrid model-based tracker are not available "
83  "since visp_klt module is missing"
84  << std::endl;
85  return 0;
86  }
87 #endif
89 
90  bool usexml = false;
92  if (vpIoTools::checkFilename(objectname + ".xml")) {
93  tracker->loadConfigFile(objectname + ".xml");
94  usexml = true;
95  }
97 
98  if (!usexml) {
100  if (opt_tracker == 0 || opt_tracker == 2) {
102  vpMe me;
103  me.setMaskSize(5);
104  me.setMaskNumber(180);
105  me.setRange(8);
106  me.setThreshold(10000);
107  me.setMu1(0.5);
108  me.setMu2(0.5);
109  me.setSampleStep(4);
110  dynamic_cast<vpMbEdgeTracker *>(tracker)->setMovingEdge(me);
112  }
113 
114 #ifdef VISP_HAVE_MODULE_KLT
115  if (opt_tracker == 1 || opt_tracker == 2) {
117  vpKltOpencv klt_settings;
118  klt_settings.setMaxFeatures(300);
119  klt_settings.setWindowSize(5);
120  klt_settings.setQuality(0.015);
121  klt_settings.setMinDistance(8);
122  klt_settings.setHarrisFreeParameter(0.01);
123  klt_settings.setBlockSize(3);
124  klt_settings.setPyramidLevels(3);
125  dynamic_cast<vpMbKltTracker *>(tracker)->setKltOpencv(klt_settings);
126  dynamic_cast<vpMbKltTracker *>(tracker)->setKltMaskBorder(5);
128  }
129 #endif
130 
132  cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
133  tracker->setCameraParameters(cam);
135 
137  tracker->setAngleAppear(vpMath::rad(70));
138  tracker->setAngleDisappear(vpMath::rad(80));
141  tracker->setNearClippingDistance(0.1);
142  tracker->setFarClippingDistance(100.0);
145  tracker->setClipping(tracker->getClipping() | vpMbtPolygon::FOV_CLIPPING);
148  }
151  tracker->setOgreVisibilityTest(false);
152  tracker->setOgreShowConfigDialog(false);
155  tracker->setScanLineVisibilityTest(true);
158 
160  if (vpIoTools::checkFilename(objectname + ".cao"))
161  tracker->loadModel(objectname + ".cao");
164  else if (vpIoTools::checkFilename(objectname + ".wrl"))
165  tracker->loadModel(objectname + ".wrl");
168  tracker->setDisplayFeatures(true);
171  tracker->initClick(I, objectname + ".init", true);
173 
174  while (!g.end()) {
175  g.acquire(I);
178  tracker->track(I);
181  tracker->getPose(cMo);
184  tracker->getCameraParameters(cam);
185  tracker->display(I, cMo, cam, vpColor::red, 2);
187  vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
188  vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
189  vpDisplay::flush(I);
190 
191  if (vpDisplay::getClick(I, false))
192  break;
193  }
196  delete display;
197  delete tracker;
199  } catch (const vpException &e) {
200  std::cout << "Catch a ViSP exception: " << e << std::endl;
201  }
202 #ifdef VISP_HAVE_OGRE
203  catch (Ogre::Exception &e) {
204  std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
205  }
206 #endif
207 #else
208  (void)argc;
209  (void)argv;
210  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
211 #endif
212 }
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
Class that defines generic functionnalities for display.
Definition: vpDisplay.h:178
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
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
Make the complete tracking of an object by using its CAD model.
Model based tracker using only KLT.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
virtual void track(const vpImage< unsigned char > &I)=0
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 setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:488
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:481
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:605
virtual void setOgreVisibilityTest(const bool &v)
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 display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)=0
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
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
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)