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Some tests to try to improve ME tracking.
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@s-trinh
s-trinh committed Jan 7, 2024
1 parent d34d59c commit a1ca17b
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Showing 9 changed files with 357 additions and 209 deletions.
151 changes: 81 additions & 70 deletions example/tracking/mbtEdgeTracking.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,7 @@
#include <visp3/io/vpVideoReader.h>
#include <visp3/mbt/vpMbEdgeTracker.h>

#define GETOPTARGS "x:m:i:n:de:chtfColwvp"
#define GETOPTARGS "x:m:i:n:de:chtfColwvpj:"

void usage(const char *name, const char *badparam)
{
Expand Down Expand Up @@ -153,7 +153,7 @@ OPTIONS: \n\
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
std::string &initFile, long &lastFrame, bool &displayFeatures, bool &click_allowed, bool &display,
bool &cao3DModel, bool &trackCylinder, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline,
bool &computeCovariance, bool &projectionError)
bool &computeCovariance, bool &projectionError, int &jump)
{
const char *optarg_;
int c;
Expand Down Expand Up @@ -205,6 +205,9 @@ bool getOptions(int argc, const char **argv, std::string &ipath, std::string &co
case 'p':
projectionError = true;
break;
case 'j':
jump = atoi(optarg_);
break;
case 'h':
usage(argv[0], nullptr);
return false;
Expand Down Expand Up @@ -252,6 +255,7 @@ int main(int argc, const char **argv)
bool computeCovariance = false;
bool projectionError = false;
bool quit = false;
int jump = 1;

#if VISP_HAVE_DATASET_VERSION >= 0x030600
std::string ext("png");
Expand All @@ -269,8 +273,8 @@ int main(int argc, const char **argv)

// Read the command line options
if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
useScanline, computeCovariance, projectionError)) {
opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
useScanline, computeCovariance, projectionError, jump)) {
return EXIT_FAILURE;
}

Expand Down Expand Up @@ -391,6 +395,10 @@ int main(int argc, const char **argv)
vpMbEdgeTracker tracker;
vpHomogeneousMatrix cMo;

std::vector<bool> pyramids = { true, true };
// TODO:
tracker.setScales(pyramids);

// Initialise the tracker: camera parameters, moving edge and KLT settings
vpCameraParameters cam;
// From the xml file
Expand Down Expand Up @@ -481,73 +489,76 @@ int main(int argc, const char **argv)

while (!reader.end()) {
// acquire a new image
reader.acquire(I);
for (int cpt = 0; cpt < jump; cpt++) {
reader.acquire(I);
}
// display the image
if (opt_display)
vpDisplay::display(I);

// Test to reset the tracker
if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 10) {
vpTRACE("Test reset tracker");
if (opt_display)
vpDisplay::display(I);
tracker.resetTracker();
tracker.loadConfigFile(configFile);
#if 0
// Corresponding parameters manually set to have an example code
// By setting the parameters:
cam.initPersProjWithoutDistortion(547, 542, 338, 234);

vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(7);
me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
me.setThreshold(10);
me.setMu1(0.5);
me.setMu2(0.5);
me.setSampleStep(4);

tracker.setCameraParameters(cam);
tracker.setMovingEdge(me);

// Specify the clipping to use
tracker.setNearClippingDistance(0.01);
tracker.setFarClippingDistance(0.90);
tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
// tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING |
// vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
// vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
tracker.loadModel(modelFile);
tracker.setCameraParameters(cam);
tracker.setOgreVisibilityTest(useOgre);
tracker.setScanLineVisibilityTest(useScanline);
tracker.setCovarianceComputation(computeCovariance);
tracker.setProjectionErrorComputation(projectionError);
tracker.initFromPose(I, cMo);
}

// Test to set an initial pose
if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 50) {
cMo.buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
vpTRACE("Test set pose");
tracker.setPose(I, cMo);
// if (opt_display) {
// // display the 3D model
// tracker.display(I, cMo, cam, vpColor::darkRed);
// // display the frame
// vpDisplay::displayFrame (I, cMo, cam, 0.05);
//// if (opt_click_allowed) {
//// vpDisplay::flush(I);
//// vpDisplay::getClick(I);
//// }
// }
}

// track the object: stop tracking from frame 40 to 50
if (reader.getFrameIndex() - reader.getFirstFrameIndex() < 40 ||
reader.getFrameIndex() - reader.getFirstFrameIndex() >= 50) {
// // Test to reset the tracker
// if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 10) {
// vpTRACE("Test reset tracker");
// if (opt_display)
// vpDisplay::display(I);
// tracker.resetTracker();
// tracker.loadConfigFile(configFile);
// #if 0
// // Corresponding parameters manually set to have an example code
// // By setting the parameters:
// cam.initPersProjWithoutDistortion(547, 542, 338, 234);

// vpMe me;
// me.setMaskSize(5);
// me.setMaskNumber(180);
// me.setRange(7);
// me.setLikelihoodThresholdType(vpMe::NORMALIZED_THRESHOLD);
// me.setThreshold(10);
// me.setMu1(0.5);
// me.setMu2(0.5);
// me.setSampleStep(4);

// tracker.setCameraParameters(cam);
// tracker.setMovingEdge(me);

// // Specify the clipping to use
// tracker.setNearClippingDistance(0.01);
// tracker.setFarClippingDistance(0.90);
// tracker.setClipping(tracker.getClipping() | vpMbtPolygon::FOV_CLIPPING);
// // tracker.setClipping(tracker.getClipping() | vpMbtPolygon::LEFT_CLIPPING |
// // vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
// // vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
// #endif
// tracker.loadModel(modelFile);
// tracker.setCameraParameters(cam);
// tracker.setOgreVisibilityTest(useOgre);
// tracker.setScanLineVisibilityTest(useScanline);
// tracker.setCovarianceComputation(computeCovariance);
// tracker.setProjectionErrorComputation(projectionError);
// tracker.initFromPose(I, cMo);
// }

// // Test to set an initial pose
// if (reader.getFrameIndex() == reader.getFirstFrameIndex() + 50) {
// cMo.buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
// vpTRACE("Test set pose");
// tracker.setPose(I, cMo);
// // if (opt_display) {
// // // display the 3D model
// // tracker.display(I, cMo, cam, vpColor::darkRed);
// // // display the frame
// // vpDisplay::displayFrame (I, cMo, cam, 0.05);
// //// if (opt_click_allowed) {
// //// vpDisplay::flush(I);
// //// vpDisplay::getClick(I);
// //// }
// // }
// }

// // track the object: stop tracking from frame 40 to 50
// if (reader.getFrameIndex() - reader.getFirstFrameIndex() < 40 ||
// reader.getFrameIndex() - reader.getFirstFrameIndex() >= 50)
{
tracker.track(I);
tracker.getPose(cMo);
if (opt_display) {
Expand All @@ -560,9 +571,9 @@ int main(int argc, const char **argv)

if (opt_click_allowed) {
vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I, false)) {
quit = true;
break;
if (vpDisplay::getClick(I, true)) {
// quit = true;
// break;
}
}

Expand Down
13 changes: 11 additions & 2 deletions example/tracking/mbtGenericTracking.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -276,8 +276,8 @@ int main(int argc, const char **argv)

// Read the command line options
if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
useScanline, computeCovariance, projectionError, trackerType)) {
opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
useScanline, computeCovariance, projectionError, trackerType)) {
return EXIT_FAILURE;
}

Expand Down Expand Up @@ -521,6 +521,15 @@ int main(int argc, const char **argv)
while (!reader.end() && !quit) {
// acquire a new image
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
reader.acquire(I1);
I2 = I1;
// display the image
if (opt_display) {
Expand Down
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