Visual Servoing Platform version 3.6.0
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tutorial-mb-generic-tracker-full.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/gui/vpPlot.h>
8#include <visp3/mbt/vpMbGenericTracker.h>
10#include <visp3/io/vpVideoReader.h>
11#include <visp3/io/vpVideoWriter.h>
12
13int main(int argc, char **argv)
14{
15#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_VIDEOIO) && defined(HAVE_OPENCV_HIGHGUI)
16 std::string opt_videoname = "model/teabox/teabox.mp4";
17 std::string opt_modelname = "model/teabox/teabox.cao";
18 int opt_tracker = 0;
19 int opt_video_first_frame = -1;
20 int opt_downscale_img = 1;
21 bool opt_verbose = false;
22 bool opt_plot = true;
23 bool opt_display_scale_auto = false;
24 vpColVector opt_dof_to_estimate(6, 1.); // Here we consider 6 dof estimation
25 std::string opt_save;
26 unsigned int thickness = 2;
27
29 vpDisplay *display = NULL;
30 vpPlot *plot = NULL;
31 vpVideoWriter *writer = NULL;
32
33 try {
34 for (int i = 0; i < argc; i++) {
35 if (std::string(argv[i]) == "--video") {
36 opt_videoname = std::string(argv[++i]);
37 }
38 else if (std::string(argv[i]) == "--video-first-frame") {
39 opt_video_first_frame = std::atoi(argv[++i]);
40 }
41 else if (std::string(argv[i]) == "--model") {
42 opt_modelname = std::string(argv[++i]);
43 }
44 else if (std::string(argv[i]) == "--tracker") {
45 opt_tracker = atoi(argv[++i]);
46 }
47 else if (std::string(argv[i]) == "--downscale-img") {
48 opt_downscale_img = std::atoi(argv[++i]);
49 }
50 else if (std::string(argv[i]) == "--save") {
51 opt_save = std::string(argv[++i]);
52 }
53 else if (std::string(argv[i]) == "--plot") {
54 opt_plot = true;
55 }
56 else if (std::string(argv[i]) == "--dof") {
57 for (int j = 0; j < 6; j++) {
58 int val = std::atoi(argv[++i]);
59 if (val == 0 || val == 1) {
60 opt_dof_to_estimate[j] = val;
61 }
62 else {
63 std::cout << "Error: wrong value after --dof option. Authorized values are 0 or 1 for each 6 dof to estimate." << std::endl;
64 return EXIT_FAILURE;
65 }
66 }
67 }
68 else if (std::string(argv[i]) == "--display-scale-auto") {
69 opt_display_scale_auto = true;
70 }
71 else if (std::string(argv[i]) == "--verbose" || std::string(argv[i]) == "-v") {
72 opt_verbose = true;
73 }
74 else if (std::string(argv[i]) == "--help" || std::string(argv[i]) == "-h") {
75 std::cout << "\nSYNOPSIS " << std::endl
76 << argv[0]
77 << " [--video <video name>]"
78 << " [--video-first-frame <image index>"
79 << " [--model <model name>"
80 << " [--tracker <0=egde|1=keypoint|2=hybrid>]"
81 << " [--downscale-img <scale factor>]"
82 << " [--dof <0/1 0/1 0/1 0/1 0/1 0/1>]"
83 << " [--save <video>]"
84 << " [--display-scale-auto]"
85 << " [--plot]"
86 << " [--verbose,-v]"
87 << " [--help,-h]"
88 << std::endl;
89 std::cout << "\nOPTIONS " << std::endl
90 << " --video <video name>" << std::endl
91 << " Input video name." << std::endl
92 << " Default: model/teabox/teabox.mp4" << std::endl
93 << std::endl
94 << " --video-first-frame <image index>" << std::endl
95 << " Index of the first image to process." << std::endl
96 << " Set to -1 to process the first image of the video." << std::endl
97 << " Default: -1" << std::endl
98 << std::endl
99 << " --model <model name>" << std::endl
100 << " CAD model filename. Supported formats are .cao and .wrl." << std::endl
101 << " To use wrl format, ViSP need to be built with Coin3D third-party." << std::endl
102 << " Default: model/teabox/teabox.cao" << std::endl
103 << std::endl
104 << " --tracker <0=egde|1=keypoint|2=hybrid>" << std::endl
105 << " Tracker type:" << std::endl
106 << " - when 0: use only moving-edges" << std::endl
107 << " - when 1: use only KLT keypoints" << std::endl
108 << " - when 2: use hybrid scheme, moving-edges and KLT keypoints." << std::endl
109 << " Default: 0" << std::endl
110 << std::endl
111 << " --downscale-img <scale factor>" << std::endl
112 << " Downscale input image width and height by this factor." << std::endl
113 << " When set to 1, image not down scaled. When set to 2, image width" << std::endl
114 << " and height is divided by 2." << std::endl
115 << " Default: 1" << std::endl
116 << std::endl
117 << " --dof <0/1 0/1 0/1 0/1 0/1 0/1>" << std::endl
118 << " 6-dim vector of 0 and 1 to indicate which dof [tx ty tz rx ry rz]" << std::endl
119 << " has to be estimated." << std::endl
120 << " When set to 1 the dof is estimated. When rather set to 0 the dof" << std::endl
121 << " is not estimated. It's value is the one from the initialisation." << std::endl
122 << " Default: 1 1 1 1 1 1 (to estimate all 6 dof)" << std::endl
123 << std::endl
124 << " --save <video>" << std::endl
125 << " Name of the saved image sequence that contains tracking results in overlay." << std::endl
126 << " When the name contains a folder like in the next example, the folder" << std::endl
127 << " is created if it doesn't exist."
128 << " Example: \"result/image-%04d.png\"." << std::endl
129 << std::endl
130 << " --display-scale-auto" << std::endl
131 << " Enable display window auto scaling to ensure that the image is fully" << std::endl
132 << " visible on the screen. Useful for large images." << std::endl
133 << " Note that this option doesn't affect the size of the processed images." << std::endl
134 << std::endl
135 << " --plot" << std::endl
136 << " Open a window that plots the estimated pose evolution." << std::endl
137 << std::endl
138 << " --verbose, -v" << std::endl
139 << " Enable verbose mode." << std::endl
140 << std::endl
141 << " --help, -h" << std::endl
142 << " Display this helper message." << std::endl
143 << std::endl;
144 return EXIT_SUCCESS;
145 }
146 }
147 std::string parentname = vpIoTools::getParent(opt_modelname);
148 std::string objectname = vpIoTools::getNameWE(opt_modelname);
149
150 if (!parentname.empty())
151 objectname = parentname + "/" + objectname;
152
153 std::cout << " *********** Tracker config ************ " << std::endl;
154 std::cout << "Video name : " << opt_videoname << std::endl;
155 std::cout << "Tracker cad model file : " << objectname << ".[cao or wrl]" << std::endl;
156 std::cout << "Tracker init file : " << objectname << ".init" << std::endl;
157 std::cout << "Tracker optional init image: " << objectname << ".[png,ppm,jpg]" << std::endl;
158 if (opt_downscale_img > 1) {
159 std::cout << "Downscale image factor : " << opt_downscale_img << std::endl;
160 }
161 std::cout << "Dof to estimate : " << opt_dof_to_estimate.t() << std::endl;
162
163 // Create output folder if needed
164 if (!opt_save.empty()) {
165 std::string parent = vpIoTools::getParent(opt_save);
166 if (!parent.empty()) {
167 std::cout << "Create output directory: " << parent << std::endl;
169 }
170 }
171
178
180 g.setFileName(opt_videoname);
181 if (opt_video_first_frame > 0) {
182 g.setFirstFrameIndex(static_cast<unsigned int>(opt_video_first_frame));
183 }
184 if (opt_downscale_img > 1) {
185 g.open(Ivideo);
186 Ivideo.subsample(opt_downscale_img, opt_downscale_img, I);
187 }
188 else {
189 g.open(I);
190 }
191
193 if (!opt_save.empty()) {
194 writer = new vpVideoWriter();
195 writer->setFileName(opt_save);
196 writer->open(O);
197 }
198
199#if defined(VISP_HAVE_X11)
200 display = new vpDisplayX;
201#elif defined(VISP_HAVE_GDI)
202 display = new vpDisplayGDI;
203#elif defined(HAVE_OPENCV_HIGHGUI)
204 display = new vpDisplayOpenCV;
205#endif
206 if (opt_display_scale_auto) {
207 display->setDownScalingFactor(vpDisplay::SCALE_AUTO);
208 }
209 display->init(I, 100, 100, "Model-based tracker");
210
211 if (opt_plot) {
212 plot = new vpPlot(2, 700, 700, display->getWindowXPosition() + I.getWidth() / display->getDownScalingFactor() + 30, display->getWindowYPosition(), "Estimated pose");
213 plot->initGraph(0, 3); // Translation
214 plot->setTitle(0, "Translation [m]");
215 plot->setColor(0, 0, vpColor::red);
216 plot->setColor(0, 1, vpColor::green);
217 plot->setColor(0, 2, vpColor::blue);
218 plot->initGraph(1, 3); // Attitude
219 plot->setTitle(1, "Attitude thetaU [deg]");
220 plot->setColor(1, 0, vpColor::red);
221 plot->setColor(1, 1, vpColor::green);
222 plot->setColor(1, 2, vpColor::blue);
223 }
224
226 vpMbGenericTracker tracker;
227 if (opt_tracker == 0)
229#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
230 else if (opt_tracker == 1)
232 else
234#else
235 else {
236 std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
237 "In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
238 << std::endl;
239 return EXIT_FAILURE;
240 }
241#endif
243
244 bool usexml = false;
246 if (vpIoTools::checkFilename(objectname + ".xml")) {
247 std::cout << "Tracker config file : " << objectname + ".xml" << std::endl;
248 tracker.loadConfigFile(objectname + ".xml");
249 usexml = true;
250 }
252
253 if (!usexml) {
255 if (opt_tracker == 0 || opt_tracker == 2) {
257 vpMe me;
258 me.setMaskSize(5);
259 me.setMaskNumber(180);
260 me.setRange(8);
262 me.setThreshold(20);
263 me.setMu1(0.5);
264 me.setMu2(0.5);
265 me.setSampleStep(4);
266 tracker.setMovingEdge(me);
268 }
269
270#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
271 if (opt_tracker == 1 || opt_tracker == 2) {
273 vpKltOpencv klt_settings;
274 klt_settings.setMaxFeatures(300);
275 klt_settings.setWindowSize(5);
276 klt_settings.setQuality(0.015);
277 klt_settings.setMinDistance(8);
278 klt_settings.setHarrisFreeParameter(0.01);
279 klt_settings.setBlockSize(3);
280 klt_settings.setPyramidLevels(3);
281 tracker.setKltOpencv(klt_settings);
282 tracker.setKltMaskBorder(5);
284 }
285#endif
286
288 tracker.setAngleAppear(vpMath::rad(70));
289 tracker.setAngleDisappear(vpMath::rad(80));
292 tracker.setNearClippingDistance(0.1);
293 tracker.setFarClippingDistance(100.0);
298
301 cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
302 tracker.setCameraParameters(cam);
305 }
306
309 tracker.setOgreVisibilityTest(false);
310 tracker.setOgreShowConfigDialog(false);
313 tracker.setScanLineVisibilityTest(true);
316
318 if (vpIoTools::checkFilename(objectname + ".cao"))
319 tracker.loadModel(objectname + ".cao");
322 else if (vpIoTools::checkFilename(objectname + ".wrl"))
323 tracker.loadModel(objectname + ".wrl");
326 tracker.setDisplayFeatures(true);
328
330
331 if (opt_dof_to_estimate != 1.) {
332 tracker.setEstimatedDoF(opt_dof_to_estimate);
333 }
334
337 tracker.getCameraParameters(cam);
338 std::cout << "Camera parameters: \n" << cam << std::endl;
340
341 std::cout << "Initialize tracker on image size: " << I.getWidth() << " x " << I.getHeight() << std::endl;
342
344 tracker.initClick(I, objectname + ".init", true);
346
347 while (!g.end()) {
348 if (opt_downscale_img > 1) {
349 g.acquire(Ivideo);
350 Ivideo.subsample(opt_downscale_img, opt_downscale_img, I);
351 }
352 else {
353 g.acquire(I);
354 }
355 std::stringstream ss;
356 ss << "Process image " << g.getFrameIndex();
357 if (opt_verbose) {
358 std::cout << "-- " << ss.str() << std::endl;
359 }
362 tracker.track(I);
365 tracker.getPose(cMo);
368 tracker.display(I, cMo, cam, vpColor::red, thickness);
370 vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, thickness);
371 vpDisplay::displayText(I, 20 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), "A click to exit...", vpColor::red);
372 vpDisplay::displayText(I, 40 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
373 {
374 std::stringstream ss;
375 ss << "Features";
377 ss << " edge: " << tracker.getNbFeaturesEdge();
378 }
379#if defined(VISP_HAVE_MODULE_KLT) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
381 ss << " klt: " << tracker.getNbFeaturesKlt();
382 }
383#endif
384 vpDisplay::displayText(I, 60 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
385 if (opt_verbose) {
386 std::cout << ss.str() << std::endl;
387 std::cout << "cMo:\n" << cMo << std::endl;
388 }
389 }
390 {
391 double proj_error = tracker.computeCurrentProjectionError(I, cMo, cam);
392 std::stringstream ss;
393 ss << "Projection error: " << std::setprecision(2) << proj_error << " deg";
394 vpDisplay::displayText(I, 80 * display->getDownScalingFactor(), 10 * display->getDownScalingFactor(), ss.str(), vpColor::red);
395 if (opt_verbose) {
396 std::cout << ss.str() << std::endl;
397 }
398 }
400
401 if (opt_plot) {
404 vpColVector c_tu_o_deg = vpMath::deg(c_tu_o);
405 plot->plot(0, g.getFrameIndex(), c_t_o);
406 plot->plot(1, g.getFrameIndex(), c_tu_o_deg);
407 }
408
409 if (!opt_save.empty()) {
411 writer->saveFrame(O);
412 }
413
414 if (vpDisplay::getClick(I, false))
415 break;
416 }
418 }
419 catch (const vpException &e) {
420 std::cout << "Catch a ViSP exception: " << e << std::endl;
422 }
423#ifdef VISP_HAVE_OGRE
424 catch (Ogre::Exception &e) {
425 std::cout << "Catch an Ogre exception: " << e.getDescription() << std::endl;
427 }
428#endif
430 delete display;
431 if (opt_plot) {
432 delete plot;
433 }
434 if (writer) {
435 delete writer;
436 }
438#else
439 (void)argc;
440 (void)argv;
441 std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
442#endif
443 return EXIT_SUCCESS;
444}
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
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)