1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
|
//! \example 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 defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_FEATURES2D)
//! [MBT code]
try {
std::string videoname = "teabox.mp4";
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 EXIT_SUCCESS;
}
}
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,"
<< "xml,"
<< "cao or wrl]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
vpImage<unsigned char> I;
vpCameraParameters cam;
vpHomogeneousMatrix cMo;
vpVideoReader g;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
return EXIT_FAILURE;
#endif
display.init(I, 100, 100, "Model-based edge tracker");
vpMbEdgeTracker tracker;
bool usexml = false;
if (vpIoTools::checkFilename(objectname + ".xml")) {
tracker.loadConfigFile(objectname + ".xml");
tracker.getCameraParameters(cam);
usexml = true;
}
if (!usexml) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(20);
me.setMu1(0.5);
me.setMu2(0.5);
me.setSampleStep(4);
me.setNbTotalSample(250);
tracker.setMovingEdge(me);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
tracker.setAngleAppear(vpMath::rad(70));
tracker.setAngleDisappear(vpMath::rad(80));
tracker.setNearClippingDistance(0.1);
tracker.setFarClippingDistance(100.0);
tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
}
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);
//! [MBT code]
//! [Keypoint selection]
#if (defined(VISP_HAVE_OPENCV_NONFREE) || defined(VISP_HAVE_OPENCV_XFEATURES2D)) || \
(VISP_HAVE_OPENCV_VERSION >= 0x030411 && CV_MAJOR_VERSION < 4) || (VISP_HAVE_OPENCV_VERSION >= 0x040400)
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
//! [Keypoint selection]
//! [Keypoint declaration]
vpKeyPoint keypoint_learning;
//! [Keypoint declaration]
if (usexml) {
//! [Keypoint xml config]
keypoint_learning.loadConfigFile(configurationFile);
//! [Keypoint xml config]
}
else {
//! [Keypoint code config]
keypoint_learning.setDetector(detectorName);
keypoint_learning.setExtractor(extractorName);
keypoint_learning.setMatcher(matcherName);
//! [Keypoint code config]
}
//! [Keypoints reference detection]
std::vector<cv::KeyPoint> trainKeyPoints;
double elapsedTime;
keypoint_learning.detect(I, trainKeyPoints, elapsedTime);
//! [Keypoints reference detection]
//! [Keypoints selection on faces]
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);
//! [Keypoints selection on faces]
//! [Keypoints build reference]
keypoint_learning.buildReference(I, trainKeyPoints, points3f);
//! [Keypoints build reference]
//! [Save learning data]
keypoint_learning.saveLearningData("teabox_learning_data.bin", true);
//! [Save learning data]
//! [Display reference keypoints]
vpDisplay::display(I);
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);
vpDisplay::flush(I);
vpDisplay::getClick(I, true);
//! [Display reference keypoints]
//! [Init keypoint detection]
vpKeyPoint keypoint_detection;
if (usexml) {
keypoint_detection.loadConfigFile(configurationFile);
}
else {
keypoint_detection.setDetector(detectorName);
keypoint_detection.setExtractor(extractorName);
keypoint_detection.setMatcher(matcherName);
keypoint_detection.setFilterMatchingType(vpKeyPoint::ratioDistanceThreshold);
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);
}
//! [Init keypoint detection]
//! [Load teabox learning data]
keypoint_detection.loadLearningData("teabox_learning_data.bin", true);
//! [Load teabox learning data]
double error;
bool click_done = false;
while (!g.end()) {
g.acquire(I);
vpDisplay::display(I);
vpDisplay::displayText(I, 10, 10, "Detection and localization in process...", vpColor::red);
//! [Matching and pose estimation]
if (keypoint_detection.matchPoint(I, cam, cMo, error, elapsedTime)) {
//! [Matching and pose estimation]
//! [Tracker set pose]
tracker.setPose(I, cMo);
//! [Tracker set pose]
//! [Display]
tracker.display(I, cMo, cam, vpColor::red, 2);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
//! [Display]
}
vpDisplay::displayText(I, 30, 10, "A click to exit.", vpColor::red);
vpDisplay::flush(I);
if (vpDisplay::getClick(I, false)) {
click_done = true;
break;
}
}
if (!click_done)
vpDisplay::getClick(I);
}
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 EXIT_SUCCESS;
}
|
