Visual Servoing Platform version 3.5.0
tutorial-mb-hybrid-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/vpMbEdgeKltTracker.h>
9
10int 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" || std::string(argv[i]) == "-h") {
21 std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help] [-h]\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;
36
40
42 g.setFileName(videoname);
43 g.open(I);
44
45#if defined(VISP_HAVE_X11)
46 vpDisplayX display(I, 100, 100, "Model-based hybrid tracker");
47#elif defined(VISP_HAVE_GDI)
48 vpDisplayGDI display(I, 100, 100, "Model-based hybrid tracker");
49#elif defined(VISP_HAVE_OPENCV)
50 vpDisplayOpenCV display(I, 100, 100, "Model-based hybrid tracker");
51#else
52 std::cout << "No image viewer is available..." << std::endl;
53#endif
54
55 vpMbEdgeKltTracker tracker;
56 bool usexml = false;
57 if (vpIoTools::checkFilename(objectname + ".xml")) {
58 tracker.loadConfigFile(objectname + ".xml");
59 usexml = true;
60 }
61 if (!usexml) {
62 vpMe me;
63 me.setMaskSize(5);
64 me.setMaskNumber(180);
65 me.setRange(8);
66 me.setThreshold(10000);
67 me.setMu1(0.5);
68 me.setMu2(0.5);
69 me.setSampleStep(4);
70 tracker.setMovingEdge(me);
71 vpKltOpencv klt_settings;
72 klt_settings.setMaxFeatures(300);
73 klt_settings.setWindowSize(5);
74 klt_settings.setQuality(0.015);
75 klt_settings.setMinDistance(8);
76 klt_settings.setHarrisFreeParameter(0.01);
77 klt_settings.setBlockSize(3);
78 klt_settings.setPyramidLevels(3);
79 tracker.setKltOpencv(klt_settings);
80 tracker.setMaskBorder(5);
81 cam.initPersProjWithoutDistortion(839, 839, 325, 243);
82 tracker.setCameraParameters(cam);
83 tracker.setAngleAppear(vpMath::rad(70));
84 tracker.setAngleDisappear(vpMath::rad(80));
85 tracker.setNearClippingDistance(0.1);
86 tracker.setFarClippingDistance(100.0);
88 }
89 tracker.setOgreVisibilityTest(true);
90 tracker.setOgreShowConfigDialog(false);
91 tracker.loadModel(objectname + ".cao");
92 tracker.setDisplayFeatures(true);
93 tracker.initClick(I, objectname + ".init", true);
94
95 while (!g.end()) {
96 g.acquire(I);
98 tracker.track(I);
99 tracker.getPose(cMo);
100 tracker.getCameraParameters(cam);
101 tracker.display(I, cMo, cam, vpColor::red, 2);
102 vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
103 vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
105
106 if (vpDisplay::getClick(I, false))
107 break;
108 }
110 } catch (const vpException &e) {
111 std::cout << "Catch a ViSP exception: " << e << std::endl;
112 }
113#ifdef VISP_HAVE_OGRE
114 catch (Ogre::Exception &e) {
115 std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
116 }
117#endif
118#else
119 (void)argc;
120 (void)argv;
121 std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
122#endif
123}
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:802
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)
static double rad(double deg)
Definition: vpMath.h:110
Hybrid tracker based on moving-edges and keypoints tracked using KLT tracker.
virtual void setClipping(const unsigned int &flags)
virtual void setFarClippingDistance(const double &dist)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setNearClippingDistance(const double &dist)
virtual void setCameraParameters(const vpCameraParameters &cam)
virtual void setOgreVisibilityTest(const bool &v)
virtual void track(const vpImage< unsigned char > &I)
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
void setMovingEdge(const vpMe &me)
void setMaskBorder(const unsigned int &e)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:643
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:248
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:517
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:414
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:480
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:469
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
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)