Visual Servoing Platform version 3.6.0
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trackKltOpencv.cpp

Example of KLT tracking using OpenCV (Intel's Open source Computer Vision library).

/****************************************************************************
*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2023 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Example of dot tracking.
*
*****************************************************************************/
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpDebug.h>
#include <iomanip>
#include <sstream>
#include <stdio.h>
#include <vector>
#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_X11) || defined(VISP_HAVE_GTK) || defined(VISP_HAVE_GDI) || defined(VISP_HAVE_OPENCV))
#if defined(VISP_HAVE_OPENCV) && defined(HAVE_OPENCV_IMGPROC) && defined(HAVE_OPENCV_VIDEO)
#include <visp3/core/vpImage.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/klt/vpKltOpencv.h>
// List of allowed command line options
#define GETOPTARGS "cdf:i:l:p:s:h"
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned last, unsigned step);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
unsigned &step, bool &click_allowed, bool &display);
void usage(const char *name, const char *badparam, std::string ipath, std::string ppath, unsigned first,
unsigned last, unsigned step)
{
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
fprintf(stdout, "\n\
Example of KLT tracking using OpenCV library.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-p <personal image path>]\n\
[-f <first image>] [-l <last image>] [-s <step>]\n\
[-c] [-d] [-h]\n",
name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-i <input image path> %s\n\
Set image input path.\n\
From this path read images \n\
\"mire-2/image.%%04d.%s\". These \n\
images come from visp-images-x.y.z.tar.gz available \n\
on the ViSP website.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behaviour than using\n\
this option.\n\
\n\
-p <personal image path> %s\n\
Specify a personal sequence containing images \n\
to process.\n\
By image sequence, we mean one file per image.\n\
Example : \"/Temp/visp-images/mire-2/image.%%04d.%s\"\n\
%%04d is for the image numbering.\n\
\n\
-f <first image> %u\n\
First image number of the sequence.\n\
\n\
-l <last image> %u\n\
Last image number of the sequence.\n\
\n\
-s <step> %u\n\
Step between two images.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-d \n\
Turn off the display.\n\
\n\
-h\n\
Print the help.\n",
ipath.c_str(), ext.c_str(), ppath.c_str(), ext.c_str(), first, last, step);
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &ppath, unsigned &first, unsigned &last,
unsigned &step, bool &click_allowed, bool &display)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'i':
ipath = optarg_;
break;
case 'p':
ppath = optarg_;
break;
case 'f':
first = (unsigned)atoi(optarg_);
break;
case 'l':
last = (unsigned)atoi(optarg_);
break;
case 's':
step = (unsigned)atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL, ipath, ppath, first, last, step);
return false;
break;
default:
usage(argv[0], optarg_, ipath, ppath, first, last, step);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL, ipath, ppath, first, last, step);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_ppath;
std::string dirname;
std::string filename;
unsigned opt_first = 1;
unsigned opt_last = 500;
unsigned opt_step = 1;
bool opt_click_allowed = true;
bool opt_display = true;
#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
#else
std::string ext("pgm");
#endif
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (getOptions(argc, argv, opt_ipath, opt_ppath, opt_first, opt_last, opt_step, opt_click_allowed,
opt_display) == false) {
return EXIT_FAILURE;
}
// Get the option values
if (!opt_ipath.empty())
ipath = opt_ipath;
// Compare ipath and env_ipath. If they differ, we take into account
// the input path comming from the command line option
if (!opt_ipath.empty() && !env_ipath.empty() && opt_ppath.empty()) {
if (ipath != env_ipath) {
std::cout << std::endl << "WARNING: " << std::endl;
std::cout << " Since -i <visp image path=" << ipath << "> "
<< " is different from VISP_IMAGE_PATH=" << env_ipath << std::endl
<< " we skip the environment variable." << std::endl;
}
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty() && opt_ppath.empty()) {
usage(argv[0], NULL, ipath, opt_ppath, opt_first, opt_last, opt_step);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< " Use -p <personal image path> option if you want to " << std::endl
<< " use personal images." << std::endl
<< std::endl;
return EXIT_FAILURE;
}
// Declare an image, this is a gray level image (unsigned char)
// it size is not defined yet, it will be defined when the image will
// read on the disk
vpImage<unsigned char> vpI; // This is a ViSP image used for display only
cv::Mat cvI;
unsigned iter = opt_first;
std::ostringstream s;
char cfilename[FILENAME_MAX];
if (opt_ppath.empty()) {
// Warning :
// The image sequence is not provided with the ViSP package
// therefore the program will return an error :
// !! couldn't read file visp-images/mire-2/image.0001.png
//
// ViSP dataset is available on the visp www site
// https://visp.inria.fr/download/.
// Set the path location of the image sequence
dirname = vpIoTools::createFilePath(ipath, "mire-2");
// Build the name of the image file
s.setf(std::ios::right, std::ios::adjustfield);
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
}
else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
// Read the image named "filename", and put the bitmap into the image structure I.
// I is initialized to the correct size
//
// vpImageIo::read() may throw various exception if, for example,
// the file does not exist, or if the memory cannot be allocated
try {
std::cout << "Load: " << filename << std::endl;
// Load a ViSP image used for the display
vpImageIo::read(vpI, filename);
} catch (...) {
// If an exception is thrown by vpImageIo::read() it will result in the end of the program.
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Cannot read " << filename << std::endl;
if (opt_ppath.empty()) {
std::cerr << " Check your -i " << ipath << " option " << std::endl
<< " or VISP_INPUT_IMAGE_PATH environment variable." << std::endl;
}
else {
std::cerr << " Check your -p " << opt_ppath << " option " << std::endl;
}
return EXIT_FAILURE;
}
// We open a window using either X11, GTK or GDI.
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GTK)
vpDisplayGTK display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(HAVE_OPENCV_HIGHGUI)
vpDisplayOpenCV display;
#endif
if (opt_display) {
// Display size is automatically defined by the image (I) size
display.init(vpI, 100, 100, "Display...");
// Display the image
// The image class has a member that specify a pointer toward
// the display that has been initialized in the display declaration
// therefore is is no longer necessary to make a reference to the
// display variable.
}
// KLT tracker
vpKltOpencv tracker;
// Event manager
// tracker.setOnNewFeature(&newFeature);
// tracker.setOnFeatureLost(&lostFeature);
// tracker.setIsFeatureValid(&isValid);
// Tracker parameters
tracker.setTrackerId(1);
// tracker.setOnMeasureFeature(&modifyFeature);
tracker.setMaxFeatures(200);
tracker.setWindowSize(10);
tracker.setQuality(0.01);
tracker.setMinDistance(15);
tracker.setHarrisFreeParameter(0.04);
tracker.setBlockSize(9);
tracker.setUseHarris(1);
tracker.setPyramidLevels(3);
// Point detection using Harris. In input we have an OpenCV IPL image
tracker.initTracking(cvI);
if (opt_display) {
// Plot the Harris points on ViSP image
tracker.display(vpI, vpColor::red);
}
// tracking is now initialized. We can start the tracker.
while (iter < opt_last) {
// set the new image name
if (opt_ppath.empty()) {
s.str("");
s << "image." << std::setw(4) << std::setfill('0') << iter << "." << ext;
filename = vpIoTools::createFilePath(dirname, s.str());
} else {
snprintf(cfilename, FILENAME_MAX, opt_ppath.c_str(), iter);
filename = cfilename;
}
// read the image
vpImageIo::read(vpI, filename);
// track the dot and returns its coordinates in the image
// results are given in float since many many are usually considered
//
// an exception is thrown by the track method if
// - dot is lost
if (opt_display) {
// Display the image
}
std::cout << "Tracking on image: " << filename << std::endl;
double time = vpTime::measureTimeMs();
// Tracking of the detected points
tracker.track(cvI);
std::cout << "Tracking performed in " << vpTime::measureTimeMs() - time << " ms" << std::endl;
if (opt_display) {
// Display the tracked points
tracker.display(vpI, vpColor::red);
}
iter += opt_step;
}
if (opt_display && opt_click_allowed) {
std::cout << "\nA click to exit..." << std::endl;
// Wait for a blocking mouse click
}
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cout << "You do not have OpenCV functionalities to display images..." << std::endl;
std::cout << "Tip:" << std::endl;
std::cout << "- Install OpenCV, configure again ViSP using cmake and build again this example" << std::endl;
return EXIT_SUCCESS;
}
#endif
#else
#include <iostream>
int main()
{
std::cout << "visp_klt module or X11, GTK, GDI or OpenCV display "
"functionalities are required..."
<< std::endl;
}
#endif
static const vpColor red
Definition vpColor.h:211
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
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
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
static void flush(const vpImage< unsigned char > &I)
error that can be emitted by ViSP classes.
Definition vpException.h:59
static void convert(const vpImage< unsigned char > &src, vpImage< vpRGBa > &dest)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition of the vpImage class member functions.
Definition vpImage.h:135
static std::string getViSPImagesDataPath()
static std::string createFilePath(const std::string &parent, const std::string &child)
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 track(const cv::Mat &I)
void setTrackerId(int tid)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void initTracking(const cv::Mat &I, const cv::Mat &mask=cv::Mat())
void setMinDistance(double minDistance)
void display(const vpImage< unsigned char > &I, const vpColor &color=vpColor::red, unsigned int thickness=1)
void setUseHarris(int useHarrisDetector)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
VISP_EXPORT double measureTimeMs()