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main.cpp
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#include <visp/vpConfig.h>
#include <visp/vpImage.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpOpenCVGrabber.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayX.h>
#include <visp/vpImageIo.h>
#include <visp/vpImageConvert.h>
#include <visp/vpKltOpencv.h>
#include <visp/vpMbKltTracker.h>
#include <visp/vpMbEdgeKltTracker.h>
using namespace std;
int main()
{
string object, method;
//object = "白盒子";
//object = "圆柱体";
object = "zeiss";
//method = "model_based";
method = "model+keypoints";
// // SOURCE FROM CAMERA
vpImage<unsigned char> I;
cv::Mat Frame;
//Image grabber initialisation
cv::VideoCapture capture(0);//如果是笔记本，0打开的是自带的摄像头，1 打开外接的相机
//double rate = 25.0;//视频的帧率
// SOURCE FROM IMAGE
//vpImage<unsigned char> I;
//vpImageIo::read(I,"gbox.pgm");
//Display initialisation
#if defined VISP_HAVE_X11
vpDisplayX d;
//#elif defined VISP_HAVE_GDI
//vpDisplayGDI d;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV d;
#endif
capture >> Frame;
cout << "图片大小:" << endl;
cout << Frame.cols;
cout << Frame.rows << endl;
vpImageConvert::convert(Frame,I);
d.init(I, 0, 0, "") ;
vpDisplay::display(I);
vpDisplay::flush(I);
vpMbTracker *tracker;
if (method == "model_based")
tracker = new vpMbEdgeTracker;
else if (method == "model+keypoints")
tracker = new vpMbEdgeKltTracker;
vpHomogeneousMatrix cMo;
//cout << endl << "333333333" << endl;
//cin >> c;
//vpCameraParameters cam(839, 839, 325, 243);
//vpCameraParameters cam(1920, 1080, 922, 523);
vpCameraParameters cam(839, 839, 307, 232);
vpMe me;
//vpCameraParameters cam(383, 382, 162, 118); // CAM PARAMETERS... SEE *.XML FILE
//vpCameraParameters cam(1920, 1080, 960, 540); // CAM PARAMETERS... SEE *.XML FILE
//vpCameraParameters cam(640,480,511,511); // CAM PARAMETERS... SEE *.XML FILE
if (object == "圆柱体")
{
//圆柱体(茶叶)
tracker->setCameraParameters(cam);
me.setMaskSize(5); // ecm:mask:size
me.setMaskNumber(180); // ecm:mask:nb_mask
me.setRange(8); // ecm:range:tracking
me.setThreshold(2000); // ecm:contrast:edge_threshold
me.setMu1(0.5); // ecm:contrast:mu1
me.setMu2(0.5); // ecm:contrast:mu2
me.setSampleStep(4); // sample:step
dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
if (method == "model+keypoints")
{
vpKltOpencv klt_settings;
klt_settings.setMaxFeatures(10);
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);
dynamic_cast<vpMbKltTracker*>(tracker)->setKltOpencv(klt_settings);
dynamic_cast<vpMbKltTracker*>(tracker)->setMaskBorder(5);
}
tracker->loadModel("cy.cao");
tracker->initClick(I, "cy.init", false);
tracker->savePose("cy.0.pos");
}
else if (object == "白盒子")
{
//白盒子
tracker->setCameraParameters(cam);
me.setMaskSize(5); // ecm:mask:size
me.setMaskNumber(180); // ecm:mask:nb_mask
me.setRange(8); // ecm:range:tracking
me.setThreshold(10000); // ecm:contrast:edge_threshold
me.setMu1(0.5); // ecm:contrast:mu1
me.setMu2(0.5); // ecm:contrast:mu2
me.setSampleStep(4); // sample:step
dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
if (method == "model+keypoints")
{
vpKltOpencv klt_settings;
klt_settings.setMaxFeatures(100);
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);
dynamic_cast<vpMbKltTracker*>(tracker)->setKltOpencv(klt_settings);
dynamic_cast<vpMbKltTracker*>(tracker)->setMaskBorder(5);
}
tracker->loadModel("teabox.cao");
tracker->initClick(I, "teabox.init", false);
tracker->savePose("teabox.0.pos");
}
else if (object == "zeiss")
{
tracker->setCameraParameters(cam);
me.setMaskSize(5); // ecm:mask:size
me.setMaskNumber(180); // ecm:mask:nb_mask
me.setRange(8); // ecm:range:tracking
me.setThreshold(5000); // ecm:contrast:edge_threshold
me.setMu1(0.5); // ecm:contrast:mu1
me.setMu2(0.5); // ecm:contrast:mu2
me.setSampleStep(4); // sample:step
dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
if (method == "model+keypoints")
{
vpKltOpencv klt_settings;
klt_settings.setMaxFeatures(30);
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(1);
dynamic_cast<vpMbKltTracker*>(tracker)->setKltOpencv(klt_settings);
dynamic_cast<vpMbKltTracker*>(tracker)->setMaskBorder(5);
}
tracker->loadModel("zeiss.cao");
tracker->initClick(I, "zeiss.init", false);
tracker->savePose("zeiss.0.pos");
}
//me.setNbTotalSample(600); // sample:nb_sample
// tracker.setMovingEdge(me); // Initialise the moving edges according to a guide
// track the model
/*
tracker->track(I);
tracker->getPose(cMo);
tracker->display(I, cMo, cam, vpColor::red, 1);
vpDisplay::flush(I);*/
//getchar();
while ( 1 )
{
capture >> Frame; //opencv获取每一帧
vpImageConvert::convert(Frame, I); //将opencv的一帧转为vpimage
string key;
string MaskSize;
//g.acquire(I); // CAMERA
/*
vpImageIo::read(I,"gbox.pgm"); // IMAGE
vpDisplay::display(I);
*/
//Track the object
vpDisplay::display(I);
tracker->track(I);
tracker->getPose(cMo);
tracker->getCameraParameters(cam);
tracker->setDisplayFeatures(true);
tracker->display(I, cMo, cam, vpColor::red, 1);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
//vpDisplay::displayFrame(I, cMo, cam, 0.05, vpColor::blue);
/*
if (vpDisplay::getKeyboardEvent(I, key, false))
{
if (key == "97")
{
//me.setMaskSize(me.getMaskSize() + 1);
me.setMaskSize(50);
//dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
}
if (key == "98")
{
me.setMaskSize(me.getMaskSize() - 1);
//dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
}
cout << key << endl;
//dynamic_cast<vpMbEdgeTracker*>(tracker)->setMovingEdge(me);
MaskSize = to_string(me.getMaskSize());
cout << "masksize==" << MaskSize << endl;
}
*/
//vpDisplay::displayText(I, 10, 10, "vpMaskSize = "+ MaskSize, vpColor::red);
/*
me.setMaskSize(5); // ecm:mask:size
me.setMaskNumber(180); // ecm:mask:nb_mask
me.setRange(8); // ecm:range:tracking
me.setThreshold(5000); // ecm:contrast:edge_threshold
me.setMu1(0.5); // ecm:contrast:mu1
me.setMu2(0.5); // ecm:contrast:mu2
me.setSampleStep(5); // sample:step
*/
vpDisplay::flush(I);
}
return 0;
}