Visual Servoing Platform  version 3.6.1 under development (2024-07-18)
tutorial-mb-tracker.cpp
#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/vpMbEdgeKltTracker.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV)
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
try {
std::string opt_videoname = "teabox.mp4";
std::string opt_modelname = "teabox";
int opt_tracker = 0;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--video")
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--model")
opt_modelname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--tracker")
opt_tracker = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nUsage: " << argv[0]
<< " [--video <video name>] [--model <model name>] "
"[--tracker <0=egde|1=keypoint|2=hybrid>] [--help] [-h]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
std::string parentname = vpIoTools::getParent(opt_modelname);
std::string objectname = vpIoTools::getNameWE(opt_modelname);
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);
vpDisplay *display = nullptr;
#if defined(VISP_HAVE_X11)
display = new vpDisplayX;
#elif defined(VISP_HAVE_GDI)
display = new vpDisplayGDI;
#elif defined(HAVE_OPENCV_HIGHGUI)
display = new vpDisplayOpenCV;
#endif
display->init(I, 100, 100, "Model-based tracker");
vpMbTracker *tracker;
if (opt_tracker == 0)
tracker = new vpMbEdgeTracker;
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
else if (opt_tracker == 1)
tracker = new vpMbKltTracker;
else
tracker = new vpMbEdgeKltTracker;
#else
else {
std::cout << "klt and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_FAILURE;
}
#endif
if (opt_tracker == 0 || opt_tracker == 2) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setThreshold(20);
me.setMu1(0.5);
me.setMu2(0.5);
dynamic_cast<vpMbEdgeTracker *>(tracker)->setMovingEdge(me);
}
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
if (opt_tracker == 1 || opt_tracker == 2) {
vpKltOpencv klt_settings;
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);
dynamic_cast<vpMbKltTracker *>(tracker)->setKltOpencv(klt_settings);
dynamic_cast<vpMbKltTracker *>(tracker)->setKltMaskBorder(5);
}
#endif
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker->setCameraParameters(cam);
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;
}
delete display;
delete tracker;
}
catch (const vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
return EXIT_FAILURE;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
return EXIT_SUCCESS;
}
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:130
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 functionalities 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 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 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 std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1227
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1314
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:74
void setBlockSize(int blockSize)
Definition: vpKltOpencv.h:267
void setQuality(double qualityLevel)
Definition: vpKltOpencv.h:356
void setHarrisFreeParameter(double harris_k)
Definition: vpKltOpencv.h:275
void setMaxFeatures(int maxCount)
Definition: vpKltOpencv.h:315
void setMinDistance(double minDistance)
Definition: vpKltOpencv.h:324
void setWindowSize(int winSize)
Definition: vpKltOpencv.h:377
void setPyramidLevels(int pyrMaxLevel)
Definition: vpKltOpencv.h:343
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:107
virtual void track(const vpImage< unsigned char > &I)=0
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 setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbTracker.h:490
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=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)=0
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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 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)