Visual Servoing Platform version 3.5.0
tutorial-mb-generic-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>
8#include <visp3/mbt/vpMbGenericTracker.h>
10#include <visp3/io/vpVideoReader.h>
11
12int main(int argc, char **argv)
13{
14#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
15 try {
16 std::string opt_videoname = "model/teabox/teabox.mp4";
17 std::string opt_modelname = "model/teabox/teabox.cao";
18 int opt_tracker = 1;
19
20 for (int i = 0; i < argc; i++) {
21 if (std::string(argv[i]) == "--video")
22 opt_videoname = std::string(argv[i + 1]);
23 else if (std::string(argv[i]) == "--model")
24 opt_modelname = std::string(argv[i + 1]);
25 else if (std::string(argv[i]) == "--tracker")
26 opt_tracker = atoi(argv[i + 1]);
27 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
28 std::cout << "\nUsage: " << argv[0]
29 << " [--video <video name>] [--model <model name>]"
30 " [--tracker <0=egde|1=keypoint|2=hybrid>] [--help] [-h]\n"
31 << std::endl;
32 return 0;
33 }
34 }
35 std::string parentname = vpIoTools::getParent(opt_modelname);
36 std::string objectname = vpIoTools::getNameWE(opt_modelname);
37
38 if (!parentname.empty())
39 objectname = parentname + "/" + objectname;
40
41 std::cout << "Video name: " << opt_videoname << std::endl;
42 std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
43 std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
44
52
54 g.setFileName(opt_videoname);
55 g.open(I);
56
57 vpDisplay *display = NULL;
58#if defined(VISP_HAVE_X11)
59 display = new vpDisplayX;
60#elif defined(VISP_HAVE_GDI)
61 display = new vpDisplayGDI;
62#else
63 display = new vpDisplayOpenCV;
64#endif
65 display->init(I, 100, 100, "Model-based tracker");
66
68 vpMbGenericTracker tracker;
69 if (opt_tracker == 0)
71#ifdef VISP_HAVE_MODULE_KLT
72 else if (opt_tracker == 1)
74 else
76#else
77 else {
78 std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
79 "In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
80 << std::endl;
81 return 0;
82 }
83#endif
85
87 if (opt_tracker == 0 || opt_tracker == 2) {
88 vpMe me;
89 me.setMaskSize(5);
90 me.setMaskNumber(180);
91 me.setRange(8);
92 me.setThreshold(10000);
93 me.setMu1(0.5);
94 me.setMu2(0.5);
95 me.setSampleStep(4);
96 tracker.setMovingEdge(me);
97 }
98
99#ifdef VISP_HAVE_MODULE_KLT
100 if (opt_tracker == 1 || opt_tracker == 2) {
101 vpKltOpencv klt_settings;
102 klt_settings.setMaxFeatures(300);
103 klt_settings.setWindowSize(5);
104 klt_settings.setQuality(0.015);
105 klt_settings.setMinDistance(8);
106 klt_settings.setHarrisFreeParameter(0.01);
107 klt_settings.setBlockSize(3);
108 klt_settings.setPyramidLevels(3);
109 tracker.setKltOpencv(klt_settings);
110 tracker.setKltMaskBorder(5);
111 }
112#endif
113
115 cam.initPersProjWithoutDistortion(839, 839, 325, 243);
117 tracker.setCameraParameters(cam);
119
121 tracker.loadModel(objectname + ".cao");
124 tracker.setDisplayFeatures(true);
127 tracker.initClick(I, objectname + ".init", true);
129
130 while (!g.end()) {
131 g.acquire(I);
134 tracker.track(I);
137 tracker.getPose(cMo);
140 tracker.getCameraParameters(cam);
141 tracker.display(I, cMo, cam, vpColor::red, 2);
143 vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
144 vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
146
147 if (vpDisplay::getClick(I, false))
148 break;
149 }
152 delete display;
154 } catch (const vpException &e) {
155 std::cout << "Catch a ViSP exception: " << e << std::endl;
156 }
157#else
158 (void)argc;
159 (void)argv;
160 std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
161#endif
162}
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 std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1532
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1606
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 setTrackerType(int type)
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 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)