242 lines
7.4 KiB
C++
242 lines
7.4 KiB
C++
//! \example tutorial-mb-generic-tracker.cpp
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#include <visp3/core/vpIoTools.h>
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#include <visp3/gui/vpDisplayGDI.h>
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#include <visp3/gui/vpDisplayOpenCV.h>
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#include <visp3/gui/vpDisplayX.h>
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#include <visp3/io/vpImageIo.h>
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//! [Include]
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#include <visp3/mbt/vpMbGenericTracker.h>
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//! [Include]
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#include <visp3/io/vpVideoReader.h>
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int main(int argc, char **argv)
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{
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#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
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try {
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std::string opt_videoname = "teabox.mpg";
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std::string opt_modelname = "teabox";
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int opt_tracker = 1;
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for (int i = 0; i < argc; i++) {
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if (std::string(argv[i]) == "--video")
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opt_videoname = std::string(argv[i + 1]);
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else if (std::string(argv[i]) == "--model")
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opt_modelname = std::string(argv[i + 1]);
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else if (std::string(argv[i]) == "--tracker")
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opt_tracker = atoi(argv[i + 1]);
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else if (std::string(argv[i]) == "--help") {
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std::cout << "\nUsage: " << argv[0]
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<< " [--video <video name>] [--model <model name>] "
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"[--tracker <0=egde|1=keypoint|2=hybrid>] [--help]\n"
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<< std::endl;
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return 0;
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}
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}
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std::string parentname = vpIoTools::getParent(opt_modelname);
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std::string objectname = vpIoTools::getNameWE(opt_modelname);
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if (!parentname.empty())
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objectname = parentname + "/" + objectname;
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std::cout << "Video name: " << opt_videoname << std::endl;
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std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
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std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
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//! [Image]
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vpImage<unsigned char> I;
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vpCameraParameters cam;
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//! [Image]
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//! [cMo]
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vpHomogeneousMatrix cMo;
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//! [cMo]
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vpVideoReader g;
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g.setFileName(opt_videoname);
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g.open(I);
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vpDisplay *display = NULL;
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#if defined(VISP_HAVE_X11)
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display = new vpDisplayX;
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#elif defined(VISP_HAVE_GDI)
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display = new vpDisplayGDI;
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#else
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display = new vpDisplayOpenCV;
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#endif
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display->init(I, 100, 100, "Model-based tracker");
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//! [Constructor]
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vpMbGenericTracker tracker;
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if (opt_tracker == 0)
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tracker.setTrackerType(vpMbGenericTracker::EDGE_TRACKER);
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#ifdef VISP_HAVE_MODULE_KLT
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else if (opt_tracker == 1)
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tracker.setTrackerType(vpMbGenericTracker::KLT_TRACKER);
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else
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tracker.setTrackerType(vpMbGenericTracker::EDGE_TRACKER | vpMbGenericTracker::KLT_TRACKER);
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#else
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else {
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std::cout << "klt and hybrid model-based tracker are not available since visp_klt module is not available. "
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"In CMakeGUI turn visp_klt module ON, configure and build ViSP again."
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<< std::endl;
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return 0;
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}
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#endif
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//! [Constructor]
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//! [Set parameters]
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if (opt_tracker == 0 || opt_tracker == 2) {
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vpMe me;
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me.setMaskSize(5);
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me.setMaskNumber(180);
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me.setRange(8);
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me.setThreshold(10000);
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me.setMu1(0.5);
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me.setMu2(0.5);
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me.setSampleStep(4);
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tracker.setMovingEdge(me);
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}
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#ifdef VISP_HAVE_MODULE_KLT
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if (opt_tracker == 1 || opt_tracker == 2) {
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vpKltOpencv klt_settings;
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klt_settings.setMaxFeatures(300);
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klt_settings.setWindowSize(5);
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klt_settings.setQuality(0.015);
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klt_settings.setMinDistance(8);
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klt_settings.setHarrisFreeParameter(0.01);
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klt_settings.setBlockSize(3);
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klt_settings.setPyramidLevels(3);
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tracker.setKltOpencv(klt_settings);
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tracker.setKltMaskBorder(5);
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}
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#endif
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//! [Set camera parameters]
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cam.initPersProjWithoutDistortion(839, 839, 325, 243);
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//! [Set camera parameters]
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tracker.setCameraParameters(cam);
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//! [Set parameters]
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//! [Load cao]
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tracker.loadModel(objectname + ".cao");
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//! [Load cao]
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//! [Set display]
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tracker.setDisplayFeatures(true);
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//! [Set display]
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//! [Init]
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tracker.initClick(I, objectname + ".init", true);
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//! [Init]
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//////TEST//////
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vpImage<unsigned char> ImRoi;
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vpDisplay* display2 = new vpDisplayX;
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// display2->init(ImRoi);
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////////////////
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while (!g.end()) {
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g.acquire(I);
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vpDisplay::display(I);
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//! [Track]
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tracker.track(I);
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//! [Track]
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//! [Get pose]
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tracker.getPose(cMo);
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//! [Get pose]
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// std::cout<<"cMo : "; cMo.print(); std::cout<<std::endl;
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////TEST////
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// vpPoint origine;
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// origine.setWorldCoordinates(0,0,0) ;
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// std::cout <<"Origne (o):"<< origine.oP << std::endl ;
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// origine.changeFrame(cMo) ;
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// std::cout << "Origine (c) : "<< origine.cP << std::endl ;
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// origine.project(cMo);
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// std::cout << "Origine (2D) : "<< origine.p << std::endl ;
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//vpPoint res = cMo * origine;
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// vpTranslationVector res = cMo.inverse()*torigine;
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// std::cout<<"Point : ";
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// res.print();
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//std::cout<<res.get_x()<<" / "<<res.get_y();
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// std::cout<<res[0]<<" / "<<res[1]<<" / "<<res[2];
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// std::cout<<std::endl;
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// std::cout<<"Polygon Nb : "<< tracker.getNbPolygon()<<std::endl;
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// for(unsigned int i=0; i<tracker.getNbPolygon();i++)
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// {
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// tracker.getPolygon(i).getRoi(cam,cMo);
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// }
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// vpImagePoint ImRes;
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std::vector<vpImagePoint> roi;
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// roi = tracker.getPolygon(0)->getRoi(cam,cMo);
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// tracker.getPolygon(0)->computePolygonClipped();
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// tracker.getPolygon(0)->getRoiClipped(cam,roi);
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for(unsigned int i=0; i<tracker.getNbPolygon();i++)
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{
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// if(tracker.getPolygon(i)->isVisible())
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// {
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std::vector<vpImagePoint> temp = tracker.getPolygon(i)->getRoi(cam);
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roi.insert(roi.end(), temp.begin(), temp.end());
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// }
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}
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// vpMeterPixelConversion::convertPoint(cam,origine.p[0],origine.p[1],ImRes);
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// std::cout<<"Point : ";
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// std::cout<<ImRes.get_u()<<" / "<<ImRes.get_v();
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// std::cout<<std::endl;
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// vpDisplay::displayPoint(I,ImRes,vpColor::green,10);
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//Création de l'imageRoi
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vpRect rect_roi(roi);
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// vpPolygon3D::roiInsideImage(ImRoi,roi);
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// std::cout<<"crop"<<std::endl;
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vpDisplay::close(ImRoi);
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vpImageTools::crop(I, rect_roi, ImRoi);
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if(!display2->isInitialised ())
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{
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display2->init(ImRoi,-1,-1,"ROI");
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}
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// ImRoi.resize(I.getHeight(),I.getWidth(),0);
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vpDisplay::displayRectangle(I,rect_roi, vpColor::green);
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//Affichage
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for(unsigned int i=0; i<roi.size();i++)
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{
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vpDisplay::displayPoint(I,roi[i],vpColor::green,10);
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}
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// vpDisplay::displayFrame(ImRoi, cMo, cam, 0.025, vpColor::none, 3);
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vpDisplay::display(ImRoi);
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vpDisplay::flush(ImRoi);
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////////////
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//! [Display]
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tracker.getCameraParameters(cam);
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tracker.display(I, cMo, cam, vpColor::red, 2, true);
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//! [Display]
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vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
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vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
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vpDisplay::flush(I);
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if (vpDisplay::getClick(I, false))
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break;
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}
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vpDisplay::getClick(I);
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// vpImageIo::write(ImRoi, "ImRoi.png");
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//! [Cleanup]
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delete display;
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//! [Cleanup]
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} catch (const vpException &e) {
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std::cout << "Catch a ViSP exception: " << e << std::endl;
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}
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#else
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(void)argc;
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(void)argv;
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std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
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#endif
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}
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