tutorial-mb-klt-tracker.cpp

#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayFactory.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/mbt/vpMbKltTracker.h>
 
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
#ifdef ENABLE_VISP_NAMESPACE
  using namespace VISP_NAMESPACE_NAME;
#endif
 
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
  std::shared_ptr<vpDisplay> display;
#else
  vpDisplay *display = nullptr;
#endif
 
  try {
    std::string videoname = "teabox.mp4";
 
    for (int i = 1; i < argc; i++) {
      if (std::string(argv[i]) == "--name" && i + 1 < argc) {
        videoname = std::string(argv[++i]);
      }
      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_DISPLAY)
#if (VISP_CXX_STANDARD >= VISP_CXX_STANDARD_11)
    display = vpDisplayFactory::createDisplay(I, 100, 100, "Model-based keypoint tracker");
#else
    display = vpDisplayFactory::allocateDisplay(I, 100, 100, "Model-based keypoint tracker");
#endif
#else
    std::cout << "No image viewer is available..." << std::endl;
    return EXIT_FAILURE;
#endif
 
    vpMbKltTracker tracker;
    bool usexml = false;
#if defined(VISP_HAVE_PUGIXML)
    if (vpIoTools::checkFilename(objectname + ".xml")) {
      tracker.loadConfigFile(objectname + ".xml");
      usexml = true;
    }
#endif
    if (!usexml) {
      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);
      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(true);
    tracker.setOgreShowConfigDialog(false);
    tracker.loadModel(objectname + "-triangle.cao");
    tracker.setDisplayFeatures(true);
    tracker.initClick(I, objectname + ".init", true);
 
    while (!g.end()) {
      g.acquire(I);
      vpDisplay::display(I);
      tracker.track(I);
      tracker.getPose(cMo);
      tracker.getCameraParameters(cam);
      tracker.display(I, cMo, cam, vpColor::red, 2);
      vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
      vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
      vpDisplay::flush(I);
 
      if (vpDisplay::getClick(I, false))
        break;
    }
    vpDisplay::getClick(I);
  }
  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
#if (VISP_CXX_STANDARD < VISP_CXX_STANDARD_11)
  if (display != nullptr) {
    delete display;
  }
#endif
#else
  (void)argc;
  (void)argv;
  std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}