Visual Servoing Platform  version 3.3.0
tutorial-detection-object-mbt-deprecated.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/vpVideoReader.h>
#include <visp3/mbt/vpMbEdgeTracker.h>
#include <visp3/vision/vpKeyPoint.h>
int main(int argc, char **argv)
{
#if (VISP_HAVE_OPENCV_VERSION >= 0x020400)
try {
std::string videoname = "teabox.mpg";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name")
videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
return 0;
}
}
std::string parentname = vpIoTools::getParent(videoname);
std::string objectname = vpIoTools::getNameWE(videoname);
if (!parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init,"
#ifdef VISP_HAVE_PUGIXML
<< "xml,"
#endif
<< "cao or wrl]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
return 0;
#endif
display.init(I, 100, 100, "Model-based edge tracker");
vpMbEdgeTracker tracker;
bool usexml = false;
#ifdef VISP_HAVE_PUGIXML
if (vpIoTools::checkFilename(objectname + ".xml")) {
tracker.loadConfigFile(objectname + ".xml");
tracker.getCameraParameters(cam);
usexml = true;
}
#endif
if (!usexml) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setThreshold(10000);
me.setMu1(0.5);
me.setMu2(0.5);
tracker.setMovingEdge(me);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
tracker.setFarClippingDistance(100.0);
}
tracker.setOgreVisibilityTest(false);
if (vpIoTools::checkFilename(objectname + ".cao"))
tracker.loadModel(objectname + ".cao");
else if (vpIoTools::checkFilename(objectname + ".wrl"))
tracker.loadModel(objectname + ".wrl");
tracker.setDisplayFeatures(true);
tracker.initClick(I, objectname + ".init", true);
tracker.track(I);
#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D))
std::string detectorName = "SIFT";
std::string extractorName = "SIFT";
std::string matcherName = "BruteForce";
std::string configurationFile = "detection-config-SIFT.xml";
#else
std::string detectorName = "FAST";
std::string extractorName = "ORB";
std::string matcherName = "BruteForce-Hamming";
std::string configurationFile = "detection-config.xml";
#endif
vpKeyPoint keypoint_learning;
if (usexml) {
#ifdef VISP_HAVE_PUGIXML
keypoint_learning.loadConfigFile(configurationFile);
#endif
} else {
keypoint_learning.setDetector(detectorName);
keypoint_learning.setExtractor(extractorName);
keypoint_learning.setMatcher(matcherName);
}
std::vector<cv::KeyPoint> trainKeyPoints;
double elapsedTime;
keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
std::vector<vpPolygon> polygons;
std::vector<std::vector<vpPoint> > roisPt;
std::pair<std::vector<vpPolygon>, std::vector<std::vector<vpPoint> > > pair = tracker.getPolygonFaces(false);
polygons = pair.first;
roisPt = pair.second;
std::vector<cv::Point3f> points3f;
tracker.getPose(cMo);
vpKeyPoint::compute3DForPointsInPolygons(cMo, cam, trainKeyPoints, polygons, roisPt, points3f);
keypoint_learning.buildReference(I, trainKeyPoints, points3f);
keypoint_learning.saveLearningData("teabox_learning_data.bin", true);
for (std::vector<cv::KeyPoint>::const_iterator it = trainKeyPoints.begin(); it != trainKeyPoints.end(); ++it) {
vpDisplay::displayCross(I, (int)it->pt.y, (int)it->pt.x, 4, vpColor::red);
}
vpDisplay::displayText(I, 10, 10, "Learning step: keypoints are detected on visible teabox faces", vpColor::red);
vpDisplay::displayText(I, 30, 10, "Click to continue with detection...", vpColor::red);
vpKeyPoint keypoint_detection;
if (usexml) {
#ifdef VISP_HAVE_PUGIXML
keypoint_detection.loadConfigFile(configurationFile);
#endif
} else {
keypoint_detection.setDetector(detectorName);
keypoint_detection.setExtractor(extractorName);
keypoint_detection.setMatcher(matcherName);
keypoint_detection.setMatchingRatioThreshold(0.8);
keypoint_detection.setUseRansacVVS(true);
keypoint_detection.setUseRansacConsensusPercentage(true);
keypoint_detection.setRansacConsensusPercentage(20.0);
keypoint_detection.setRansacIteration(200);
keypoint_detection.setRansacThreshold(0.005);
}
keypoint_detection.loadLearningData("teabox_learning_data.bin", true);
double error;
bool click_done = false;
while (!g.end()) {
g.acquire(I);
vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
tracker.setPose(I, cMo);
tracker.display(I, cMo, cam, vpColor::red, 2);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
}
vpDisplay::displayText(I, 30, 10, "A click to exit.", vpColor::red);
if (vpDisplay::getClick(I, false)) {
click_done = true;
break;
}
}
if (!click_done)
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2)
SoDB::finish();
#endif
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
return 0;
}
vpMbEdgeTracker::setClipping
virtual void setClipping(const unsigned int &flags)
Definition: vpMbEdgeTracker.cpp:2693
vpDisplayX
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Definition: vpDisplayX.h:149
vpKeyPoint::setMatcher
void setMatcher(const std::string &matcherName)
Definition: vpKeyPoint.h:910
vpMbTracker::setAngleDisappear
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:475
vpMbEdgeTracker::track
virtual void track(const vpImage< unsigned char > &I)
Definition: vpMbEdgeTracker.cpp:1028
vpMbTracker::getCameraParameters
virtual void getCameraParameters(vpCameraParameters &cam) const
Definition: vpMbTracker.h:243
vpMbEdgeTracker
Make the complete tracking of an object by using its CAD model.
Definition: vpMbEdgeTracker.h:257
vpKeyPoint::setRansacConsensusPercentage
void setRansacConsensusPercentage(double percentage)
Definition: vpKeyPoint.h:995
vpKeyPoint::buildReference
unsigned int buildReference(const vpImage< unsigned char > &I)
Definition: vpKeyPoint.cpp:239
vpMath::rad
static double rad(double deg)
Definition: vpMath.h:107
vpKeyPoint::ratioDistanceThreshold
Definition: vpKeyPoint.h:231
vpKeyPoint::setUseRansacVVS
void setUseRansacVVS(bool ransacVVS)
Definition: vpKeyPoint.h:1153
vpMbTracker::getClipping
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:251
vpCameraParameters
Generic class defining intrinsic camera parameters.
Definition: vpCameraParameters.h:232
vpMbEdgeTracker::setMovingEdge
void setMovingEdge(const vpMe &me)
Definition: vpMbEdgeTracker.cpp:132
vpKeyPoint::setMatchingRatioThreshold
void setMatchingRatioThreshold(double ratio)
Definition: vpKeyPoint.h:980
vpMe::setMu2
void setMu2(const double &mu_2)
Definition: vpMe.h:247
vpKeyPoint::saveLearningData
void saveLearningData(const std::string &filename, bool binaryMode=false, bool saveTrainingImages=true)
Definition: vpKeyPoint.cpp:4247
vpMbEdgeTracker::loadConfigFile
void loadConfigFile(const std::string &configFile)
Definition: vpMbEdgeTracker.cpp:1223
vpIoTools::getNameWE
static std::string getNameWE(const std::string &pathname)
Definition: vpIoTools.cpp:1460
vpVideoReader::end
bool end()
Definition: vpVideoReader.h:259
vpMe::setThreshold
void setThreshold(const double &t)
Definition: vpMe.h:299
vpMbEdgeTracker::setNearClippingDistance
virtual void setNearClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2661
vpMbEdgeTracker::setOgreVisibilityTest
virtual void setOgreVisibilityTest(const bool &v)
Definition: vpMbEdgeTracker.h:440
vpKeyPoint::setExtractor
void setExtractor(const vpFeatureDescriptorType &extractorType)
Definition: vpKeyPoint.h:834
vpDisplayGDI
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:127
vpMbEdgeTracker::display
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false)
Definition: vpMbEdgeTracker.cpp:1290
vpMbTracker::getPose
virtual void getPose(vpHomogeneousMatrix &cMo) const
Definition: vpMbTracker.h:409
vpPolygon3D::FOV_CLIPPING
Definition: vpPolygon3D.h:69
vpKeyPoint::matchPoint
unsigned int matchPoint(const vpImage< unsigned char > &I)
Definition: vpKeyPoint.cpp:3431
vpMbTracker::initClick
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbTracker.cpp:547
vpMe
Definition: vpMe.h:59
vpKeyPoint::loadConfigFile
void loadConfigFile(const std::string &configFile)
Definition: vpKeyPoint.cpp:2897
vpMe::setRange
void setRange(const unsigned int &r)
Definition: vpMe.h:270
vpKeyPoint::setUseRansacConsensusPercentage
void setUseRansacConsensusPercentage(bool usePercentage)
Definition: vpKeyPoint.h:1144
vpDisplay::displayFrame
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))
Definition: vpDisplay_uchar.cpp:383
vpMbEdgeTracker::setFarClippingDistance
virtual void setFarClippingDistance(const double &dist)
Definition: vpMbEdgeTracker.cpp:2631
vpDisplayOpenCV
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Definition: vpDisplayOpenCV.h:140
vpKeyPoint::setRansacThreshold
void setRansacThreshold(double threshold)
Definition: vpKeyPoint.h:1087
vpKeyPoint::setFilterMatchingType
void setFilterMatchingType(const vpFilterMatchingType &filterType)
Definition: vpKeyPoint.h:931
vpVideoReader::open
void open(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:174
vpVideoReader
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
Definition: vpVideoReader.h:170
vpKeyPoint::setRansacIteration
void setRansacIteration(int nbIter)
Definition: vpKeyPoint.h:1019
vpVideoReader::setFileName
void setFileName(const std::string &filename)
Definition: vpVideoReader.cpp:91
vpDisplay::display
static void display(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:739
vpDisplay::displayText
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Definition: vpDisplay_uchar.cpp:663
vpMe::setMaskNumber
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:453
vpIoTools::checkFilename
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:730
vpKeyPoint
Class that allows keypoints detection (and descriptors extraction) and matching thanks to OpenCV libr...
Definition: vpKeyPoint.h:221
vpKeyPoint::detect
void detect(const vpImage< unsigned char > &I, std::vector< cv::KeyPoint > &keyPoints, const vpRect &rectangle=vpRect())
Definition: vpKeyPoint.cpp:1273
vpMbTracker::setAngleAppear
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:464
vpKeyPoint::loadLearningData
void loadLearningData(const std::string &filename, bool binaryMode=false, bool append=false)
Definition: vpKeyPoint.cpp:2974
vpColor::none
static const vpColor none
Definition: vpColor.h:190
vpCameraParameters::initPersProjWithoutDistortion
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Definition: vpCameraParameters.cpp:181
vpMe::setNbTotalSample
void setNbTotalSample(const int &nb)
Definition: vpMe.h:254
vpMbEdgeTracker::setCameraParameters
virtual void setCameraParameters(const vpCameraParameters &cam)
Definition: vpMbEdgeTracker.h:404
vpMe::setSampleStep
void setSampleStep(const double &s)
Definition: vpMe.h:277
vpDisplay::flush
static void flush(const vpImage< unsigned char > &I)
Definition: vpDisplay_uchar.cpp:715
vpDisplay::displayCross
static void displayCross(const vpImage< unsigned char > &I, const vpImagePoint &ip, unsigned int size, const vpColor &color, unsigned int thickness=1)
Definition: vpDisplay_uchar.cpp:179
vpImage< unsigned char >
vpDisplay::getClick
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
Definition: vpDisplay_uchar.cpp:764
vpKeyPoint::compute3DForPointsInPolygons
static void compute3DForPointsInPolygons(const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, std::vector< cv::KeyPoint > &candidates, const std::vector< vpPolygon > &polygons, const std::vector< std::vector< vpPoint > > &roisPt, std::vector< cv::Point3f > &points, cv::Mat *descriptors=NULL)
Definition: vpKeyPoint.cpp:631
vpHomogeneousMatrix
Implementation of an homogeneous matrix and operations on such kind of matrices.
Definition: vpHomogeneousMatrix.h:148
vpMe::setMu1
void setMu1(const double &mu_1)
Definition: vpMe.h:240
vpKeyPoint::setDetector
void setDetector(const vpFeatureDetectorType &detectorType)
Definition: vpKeyPoint.h:776
vpMe::setMaskSize
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:460
vpException
error that can be emited by ViSP classes.
Definition: vpException.h:70
vpVideoReader::acquire
void acquire(vpImage< vpRGBa > &I)
Definition: vpVideoReader.cpp:243
vpColor::red
static const vpColor red
Definition: vpColor.h:178
vpMbTracker::loadModel
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
Definition: vpMbTracker.cpp:1465
vpMbEdgeTracker::setPose
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo)
Definition: vpMbEdgeTracker.cpp:1191
vpMbTracker::getPolygonFaces
virtual std::pair< std::vector< vpPolygon >, std::vector< std::vector< vpPoint > > > getPolygonFaces(bool orderPolygons=true, bool useVisibility=true, bool clipPolygon=false)
Definition: vpMbTracker.cpp:2601
vpIoTools::getParent
static std::string getParent(const std::string &pathname)
Definition: vpIoTools.cpp:1473
vpMbTracker::setDisplayFeatures
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:512