Visual Servoing Platform version 3.6.0
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tutorial-mb-generic-tracker-full.cpp
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/gui/vpPlot.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/io/vpVideoWriter.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_VIDEOIO) && defined(HAVE_OPENCV_HIGHGUI)
std::string opt_videoname = "model/teabox/teabox.mp4";
std::string opt_modelname = "model/teabox/teabox.cao";
int opt_tracker = 0;
int opt_video_first_frame = -1;
int opt_downscale_img = 1;
bool opt_verbose = false;
bool opt_plot = true;
bool opt_display_scale_auto = false;
vpColVector opt_dof_to_estimate(6, 1.); // Here we consider 6 dof estimation
std::string opt_save;
unsigned int thickness = 2;
vpDisplay *display = NULL;
vpPlot *plot = NULL;
vpVideoWriter *writer = NULL;
try {
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--video") {
opt_videoname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--video-first-frame") {
opt_video_first_frame = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--model") {
opt_modelname = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--tracker") {
opt_tracker = atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--downscale-img") {
opt_downscale_img = std::atoi(argv[++i]);
}
else if (std::string(argv[i]) == "--save") {
opt_save = std::string(argv[++i]);
}
else if (std::string(argv[i]) == "--plot") {
opt_plot = true;
}
else if (std::string(argv[i]) == "--dof") {
for (int j = 0; j < 6; j++) {
int val = std::atoi(argv[++i]);
if (val == 0 || val == 1) {
opt_dof_to_estimate[j] = val;
}
else {
std::cout << "Error: wrong value after --dof option. Authorized values are 0 or 1 for each 6 dof to estimate." << std::endl;
return EXIT_FAILURE;
}
}
}
else if (std::string(argv[i]) == "--display-scale-auto") {
opt_display_scale_auto = true;
}
else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
opt_verbose = true;
}
else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
std::cout << "\nSYNOPSIS " << std::endl
<< argv[0]
<< " [--video <video name>]"
<< " [--video-first-frame <image index>"
<< " [--model <model name>"
<< " [--tracker <0=egde|1=keypoint|2=hybrid>]"
<< " [--downscale-img <scale factor>]"
<< " [--dof <0/1 0/1 0/1 0/1 0/1 0/1>]"
<< " [--save <video>]"
<< " [--display-scale-auto]"
<< " [--plot]"
<< " [--verbose,-v]"
<< " [--help,-h]"
<< std::endl;
std::cout << "\nOPTIONS " << std::endl
<< " --video <video name>" << std::endl
<< " Input video name." << std::endl
<< " Default: model/teabox/teabox.mp4" << std::endl
<< std::endl
<< " --video-first-frame <image index>" << std::endl
<< " Index of the first image to process." << std::endl
<< " Set to -1 to process the first image of the video." << std::endl
<< " Default: -1" << std::endl
<< std::endl
<< " --model <model name>" << std::endl
<< " CAD model filename. Supported formats are .cao and .wrl." << std::endl
<< " To use wrl format, ViSP need to be built with Coin3D third-party." << std::endl
<< " Default: model/teabox/teabox.cao" << std::endl
<< std::endl
<< " --tracker <0=egde|1=keypoint|2=hybrid>" << std::endl
<< " Tracker type:" << std::endl
<< " - when 0: use only moving-edges" << std::endl
<< " - when 1: use only KLT keypoints" << std::endl
<< " - when 2: use hybrid scheme, moving-edges and KLT keypoints." << std::endl
<< " Default: 0" << std::endl
<< std::endl
<< " --downscale-img <scale factor>" << std::endl
<< " Downscale input image width and height by this factor." << std::endl
<< " When set to 1, image not down scaled. When set to 2, image width" << std::endl
<< " and height is divided by 2." << std::endl
<< " Default: 1" << std::endl
<< std::endl
<< " --dof <0/1 0/1 0/1 0/1 0/1 0/1>" << std::endl
<< " 6-dim vector of 0 and 1 to indicate which dof [tx ty tz rx ry rz]" << std::endl
<< " has to be estimated." << std::endl
<< " When set to 1 the dof is estimated. When rather set to 0 the dof" << std::endl
<< " is not estimated. It's value is the one from the initialisation." << std::endl
<< " Default: 1 1 1 1 1 1 (to estimate all 6 dof)" << std::endl
<< std::endl
<< " --save <video>" << std::endl
<< " Name of the saved image sequence that contains tracking results in overlay." << std::endl
<< " When the name contains a folder like in the next example, the folder" << std::endl
<< " is created if it doesn't exist."
<< " Example: \"result/image-%04d.png\"." << std::endl
<< std::endl
<< " --display-scale-auto" << std::endl
<< " Enable display window auto scaling to ensure that the image is fully" << std::endl
<< " visible on the screen. Useful for large images." << std::endl
<< " Note that this option doesn't affect the size of the processed images." << std::endl
<< std::endl
<< " --plot" << std::endl
<< " Open a window that plots the estimated pose evolution." << std::endl
<< std::endl
<< " --verbose, -v" << std::endl
<< " Enable verbose mode." << std::endl
<< std::endl
<< " --help, -h" << std::endl
<< " Display this helper message." << std::endl
<< 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 << " *********** Tracker config ************ " << std::endl;
std::cout << "Video name : " << opt_videoname << std::endl;
std::cout << "Tracker cad model file : " << objectname << ".[cao or wrl]" << std::endl;
std::cout << "Tracker init file : " << objectname << ".init" << std::endl;
std::cout << "Tracker optional init image: " << objectname << ".[png,ppm,jpg]" << std::endl;
if (opt_downscale_img > 1) {
std::cout << "Downscale image factor : " << opt_downscale_img << std::endl;
}
std::cout << "Dof to estimate : " << opt_dof_to_estimate.t() << std::endl;
// Create output folder if needed
if (!opt_save.empty()) {
std::string parent = vpIoTools::getParent(opt_save);
if (!parent.empty()) {
std::cout << "Create output directory: " << parent << std::endl;
}
}
g.setFileName(opt_videoname);
if (opt_video_first_frame > 0) {
g.setFirstFrameIndex(static_cast<unsigned int>(opt_video_first_frame));
}
if (opt_downscale_img > 1) {
g.open(Ivideo);
Ivideo.subsample(opt_downscale_img, opt_downscale_img, I);
}
else {
g.open(I);
}
if (!opt_save.empty()) {
writer = new vpVideoWriter();
writer->setFileName(opt_save);
writer->open(O);
}
#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
if (opt_display_scale_auto) {
display->setDownScalingFactor(vpDisplay::SCALE_AUTO);
}
display->init(I, 100, 100, "Model-based tracker");
if (opt_plot) {
plot = new vpPlot(2, 700, 700, display->getWindowXPosition() + I.getWidth() / display->getDownScalingFactor() + 30, display->getWindowYPosition(), "Estimated pose");
plot->initGraph(0, 3); // Translation
plot->setTitle(0, "Translation [m]");
plot->setColor(0, 0, vpColor::red);
plot->setColor(0, 1, vpColor::green);
plot->setColor(0, 2, vpColor::blue);
plot->initGraph(1, 3); // Attitude
plot->setTitle(1, "Attitude thetaU [deg]");
plot->setColor(1, 0, vpColor::red);
plot->setColor(1, 1, vpColor::green);
plot->setColor(1, 2, vpColor::blue);
}
if (opt_tracker == 0)
#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
else if (opt_tracker == 1)
else
#else
else {
std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
"In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
<< std::endl;
return EXIT_FAILURE;
}
#endif
bool usexml = false;
if (vpIoTools::checkFilename(objectname + ".xml")) {
std::cout << "Tracker config file : " << objectname + ".xml" << std::endl;
tracker.loadConfigFile(objectname + ".xml");
usexml = true;
}
if (!usexml) {
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);
tracker.setMovingEdge(me);
}
#if defined(VISP_HAVE_MODULE_KLT) && 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);
tracker.setKltOpencv(klt_settings);
tracker.setKltMaskBorder(5);
}
#endif
tracker.setFarClippingDistance(100.0);
cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
tracker.setCameraParameters(cam);
}
tracker.setOgreVisibilityTest(false);
tracker.setOgreShowConfigDialog(false);
if (vpIoTools::checkFilename(objectname + ".cao"))
tracker.loadModel(objectname + ".cao");
else if (vpIoTools::checkFilename(objectname + ".wrl"))
tracker.loadModel(objectname + ".wrl");
tracker.setDisplayFeatures(true);
if (opt_dof_to_estimate != 1.) {
tracker.setEstimatedDoF(opt_dof_to_estimate);
}
tracker.getCameraParameters(cam);
std::cout << "Camera parameters: \n" << cam << std::endl;
std::cout << "Initialize tracker on image size: " << I.getWidth() << " x " << I.getHeight() << std::endl;
tracker.initClick(I, objectname + ".init", true);
while (!g.end()) {
if (opt_downscale_img > 1) {
g.acquire(Ivideo);
Ivideo.subsample(opt_downscale_img, opt_downscale_img, I);
}
else {
g.acquire(I);
}
std::stringstream ss;
ss << "Process image " << g.getFrameIndex();
if (opt_verbose) {
std::cout << "-- " << ss.str() << std::endl;
}
tracker.track(I);
tracker.getPose(cMo);
tracker.display(I, cMo, cam, vpColor::red, thickness);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, thickness);
vpDisplay::displayText(I, 20 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), "A click to exit...", vpColor::red);
vpDisplay::displayText(I, 40 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
{
std::stringstream ss;
ss << "Features";
ss << " edge: " << tracker.getNbFeaturesEdge();
}
#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
ss << " klt: " << tracker.getNbFeaturesKlt();
}
#endif
vpDisplay::displayText(I, 60 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
if (opt_verbose) {
std::cout << ss.str() << std::endl;
std::cout << "cMo:\n" << cMo << std::endl;
}
}
{
double proj_error = tracker.computeCurrentProjectionError(I, cMo, cam);
std::stringstream ss;
ss << "Projection error: " << std::setprecision(2) << proj_error << " deg";
vpDisplay::displayText(I, 80 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
if (opt_verbose) {
std::cout << ss.str() << std::endl;
}
}
if (opt_plot) {
vpColVector c_tu_o_deg = vpMath::deg(c_tu_o);
plot->plot(0, g.getFrameIndex(), c_t_o);
plot->plot(1, g.getFrameIndex(), c_tu_o_deg);
}
if (!opt_save.empty()) {
writer->saveFrame(O);
}
if (vpDisplay::getClick(I, false))
break;
}
}
catch (const vpException &e) {
std::cout << "Catch a ViSP exception: " << e << std::endl;
}
#ifdef VISP_HAVE_OGRE
catch (Ogre::Exception &e) {
std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
}
#endif
delete display;
if (opt_plot) {
delete plot;
}
if (writer) {
delete writer;
}
#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)
Implementation of column vector and the associated operations.
vpRowVector t() const
static const vpColor red
Definition vpColor.h:211
static const vpColor none
Definition vpColor.h:223
static const vpColor blue
Definition vpColor.h:217
static const vpColor green
Definition vpColor.h:214
Display for windows using GDI (available on any windows 32 platform).
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:132
Class that defines generic functionalities for display.
Definition vpDisplay.h:173
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 getImage(const vpImage< unsigned char > &Is, vpImage< vpRGBa > &Id)
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:59
Implementation of an homogeneous matrix and operations on such kind of matrices.
vpRotationMatrix getRotationMatrix() const
vpTranslationVector getTranslationVector() const
Definition of the vpImage class member functions.
Definition vpImage.h:135
void subsample(unsigned int v_scale, unsigned int h_scale, vpImage< Type > &sampled) const
Definition vpImage.h:1466
unsigned int getWidth() const
Definition vpImage.h:242
unsigned int getHeight() const
Definition vpImage.h:184
static bool checkFilename(const std::string &filename)
static void makeDirectory(const std::string &dirname)
static std::string getNameWE(const std::string &pathname)
static std::string getParent(const std::string &pathname)
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition vpKltOpencv.h:73
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:116
static double deg(double rad)
Definition vpMath.h:106
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 int getTrackerType() const
virtual void setKltMaskBorder(const unsigned int &e)
virtual unsigned int getNbFeaturesEdge() const
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void setGoodMovingEdgesRatioThreshold(double threshold)
virtual void setAngleAppear(const double &a)
virtual void setNearClippingDistance(const double &dist)
virtual unsigned int getNbFeaturesKlt() const
virtual void getCameraParameters(vpCameraParameters &camera) const
virtual void setAngleDisappear(const double &a)
virtual void setMovingEdge(const vpMe &me)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setKltOpencv(const vpKltOpencv &t)
virtual void getClipping(unsigned int &clippingFlag1, unsigned int &clippingFlag2) const
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 setFarClippingDistance(const double &dist)
virtual double computeCurrentProjectionError(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &_cMo, const vpCameraParameters &_cam)
virtual void setClipping(const unsigned int &flags)
virtual void loadConfigFile(const std::string &configFile, bool verbose=true)
virtual void setOgreVisibilityTest(const bool &v)
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)
virtual void setEstimatedDoF(const vpColVector &v)
Definition vpMe.h:122
void setMu1(const double &mu_1)
Definition vpMe.h:353
void setSampleStep(const double &s)
Definition vpMe.h:390
void setRange(const unsigned int &r)
Definition vpMe.h:383
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
Definition vpMe.h:445
void setMaskSize(const unsigned int &a)
Definition vpMe.cpp:452
void setMu2(const double &mu_2)
Definition vpMe.h:360
@ NORMALIZED_THRESHOLD
Easy-to-use normalized likelihood threshold corresponding to the minimal luminance contrast to consid...
Definition vpMe.h:132
void setMaskNumber(const unsigned int &a)
Definition vpMe.cpp:445
void setThreshold(const double &t)
Definition vpMe.h:435
This class enables real time drawing of 2D or 3D graphics. An instance of the class open a window whi...
Definition vpPlot.h:113
void initGraph(unsigned int graphNum, unsigned int curveNbr)
Definition vpPlot.cpp:202
void plot(unsigned int graphNum, unsigned int curveNum, double x, double y)
Definition vpPlot.cpp:269
void setColor(unsigned int graphNum, unsigned int curveNum, vpColor color)
Definition vpPlot.cpp:245
void setTitle(unsigned int graphNum, const std::string &title)
Definition vpPlot.cpp:503
Implementation of a rotation vector as axis-angle minimal representation.
Class that consider the case of a translation vector.
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)
void setFirstFrameIndex(const long first_frame)
long getFrameIndex() const
Class that enables to write easily a video file or a sequence of images.
void saveFrame(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
void open(vpImage< vpRGBa > &I)