Visual Servoing Platform  version 3.2.0 under development (2018-08-18)
mbtGenericTrackingDepthOnly.cpp

Example of tracking with vpGenericTracker on Castel.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 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 http://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 tracking with vpGenericTracker on Castel.
*
*****************************************************************************/
#include <cstdlib>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayD3D.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/io/vpVideoReader.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#define GETOPTARGS "X:M:i:n:dchfolwvpT:e:u:"
#define USE_XML 1
#define USE_SMALL_DATASET 1 // small depth dataset in ViSP-images
namespace
{
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Example of tracking with vpGenericTracker.\n\
\n\
SYNOPSIS\n\
%s [-i <test image path>] [-X <config file depth>]\n\
[-M <model name depth>] [-n <initialisation file base name>]\n\
[-f] [-c] [-d] [-h] [-o] [-w] [-l] [-v] [-p]\n\
[-T <tracker type>] [-e <last frame index>]\n\
[-u <disable face>]\n", name);
fprintf(stdout, "\n\
OPTIONS: \n\
-i <input image path> \n\
Set image input path.\n\
These 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 behavior than using\n\
this option.\n\
\n\
-X <config file> \n\
Set the config file (the xml file) to use for the depth sensor.\n\
The config file is used to specify the parameters of the tracker.\n\
\n\
-M <model name> \n\
Specify the name of the file of the model for the depth sensor.\n\
The model can either be a vrml model (.wrl) or a .cao file.\n\
\n\
-n <initialisation file base name> \n\
Base name of the initialisation file. The file will be 'base_name'.init .\n\
This base name is also used for the optional picture specifying where to \n\
click (a .ppm picture).\n\
\n\
-f \n\
Turn off the display of the visual features. \n\
\n\
-d \n\
Turn off the display.\n\
\n\
-c\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
\n\
-o\n\
Use Ogre3D for visibility tests\n\
\n\
-w\n\
When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
\n\
-l\n\
Use the scanline for visibility tests.\n\
\n\
-v\n\
Compute covariance matrix.\n\
\n\
-p\n\
Compute gradient projection error.\n\
\n\
-T <tracker type>\n\
Set tracker type (<4 (Depth normal)>, <8 (Depth dense)>, <12 (both)>) for depth sensor.\n\
\n\
-e <last frame index>\n\
Specify the index of the last frame. Once reached, the tracking is stopped.\n\
\n\
-u <disable>\n\
Disable castle element (1=floor, 2=front_door, 4=slope, 8=tower_front, 16=tower_left, 32=tower_right, 64=tower_back).\n\
\n\
-h \n\
Print the help.\n\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile_depth,
std::string &modelFile_depth, std::string &initFile, bool &displayFeatures, bool &click_allowed,
bool &display, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline, bool &computeCovariance,
bool &projectionError, int &tracker_type_depth, int &lastFrame, int &disable_castle_faces)
{
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
break;
case 'X':
configFile_depth = optarg_;
break;
case 'M':
modelFile_depth = optarg_;
break;
case 'n':
initFile = optarg_;
break;
case 'f':
displayFeatures = false;
break;
case 'c':
click_allowed = false;
break;
case 'd':
display = false;
break;
case 'o':
useOgre = true;
break;
case 'l':
useScanline = true;
break;
case 'w':
showOgreConfigDialog = true;
break;
case 'v':
computeCovariance = true;
break;
case 'p':
projectionError = true;
break;
case 'T':
tracker_type_depth = atoi(optarg_);
break;
case 'e':
lastFrame = atoi(optarg_);
break;
case 'u':
disable_castle_faces = atoi(optarg_);
break;
case 'h':
usage(argv[0], NULL);
return false;
break;
default:
usage(argv[0], optarg_);
return false;
break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
}
return true;
}
struct rs_intrinsics {
float ppx;
float ppy;
float fx;
float fy;
float coeffs[5];
};
void rs_deproject_pixel_to_point(float point[3], const rs_intrinsics &intrin, const float pixel[2], float depth)
{
float x = (pixel[0] - intrin.ppx) / intrin.fx;
float y = (pixel[1] - intrin.ppy) / intrin.fy;
float r2 = x * x + y * y;
float f = 1 + intrin.coeffs[0] * r2 + intrin.coeffs[1] * r2 * r2 + intrin.coeffs[4] * r2 * r2 * r2;
float ux = x * f + 2 * intrin.coeffs[2] * x * y + intrin.coeffs[3] * (r2 + 2 * x * x);
float uy = y * f + 2 * intrin.coeffs[3] * x * y + intrin.coeffs[2] * (r2 + 2 * y * y);
x = ux;
y = uy;
point[0] = depth * x;
point[1] = depth * y;
point[2] = depth;
}
bool read_data(const unsigned int cpt, const std::string &input_directory, vpImage<unsigned char> &I, vpImage<uint16_t> &I_depth_raw,
std::vector<vpColVector> &pointcloud, unsigned int &pointcloud_width, unsigned int &pointcloud_height)
{
char buffer[256];
// Read image
std::stringstream ss;
ss << input_directory << "/image_%04d.pgm";
sprintf(buffer, ss.str().c_str(), cpt);
std::string filename_image = buffer;
if (!vpIoTools::checkFilename(filename_image)) {
std::cerr << "Cannot read: " << filename_image << std::endl;
return false;
}
vpImageIo::read(I, filename_image);
// Read raw depth
ss.str("");
ss << input_directory << "/depth_image_%04d.bin";
sprintf(buffer, ss.str().c_str(), cpt);
std::string filename_depth = buffer;
std::ifstream file_depth(filename_depth.c_str(), std::ios::in | std::ios::binary);
if (!file_depth.is_open()) {
return false;
}
unsigned int height = 0, width = 0;
vpIoTools::readBinaryValueLE(file_depth, height);
vpIoTools::readBinaryValueLE(file_depth, width);
I_depth_raw.resize(height, width);
uint16_t depth_value = 0;
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
vpIoTools::readBinaryValueLE(file_depth, depth_value);
I_depth_raw[i][j] = depth_value;
}
}
// Transform pointcloud
pointcloud_width = width;
pointcloud_height = height;
pointcloud.resize((size_t)width * height);
// Only for Creative SR300
const float depth_scale = 0.000124986647f;
rs_intrinsics depth_intrinsic;
depth_intrinsic.ppx = 311.484558f;
depth_intrinsic.ppy = 246.283234f;
depth_intrinsic.fx = 476.053619f;
depth_intrinsic.fy = 476.053497f;
depth_intrinsic.coeffs[0] = 0.165056542f;
depth_intrinsic.coeffs[1] = -0.0508309528f;
depth_intrinsic.coeffs[2] = 0.00435937941f;
depth_intrinsic.coeffs[3] = 0.00541406544f;
depth_intrinsic.coeffs[4] = 0.250085592f;
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
float scaled_depth = I_depth_raw[i][j] * depth_scale;
float point[3];
float pixel[2] = {(float)j, (float)i};
rs_deproject_pixel_to_point(point, depth_intrinsic, pixel, scaled_depth);
vpColVector data_3D(3);
data_3D[0] = point[0];
data_3D[1] = point[1];
data_3D[2] = point[2];
pointcloud[(size_t)(i * width + j)] = data_3D;
}
}
return true;
}
void loadConfiguration(vpMbTracker *const tracker, const std::string &
#if defined(VISP_HAVE_XML2) && USE_XML
configFile_depth
#endif
)
{
#if defined(VISP_HAVE_XML2) && USE_XML
// From the xml file
dynamic_cast<vpMbGenericTracker *>(tracker)->loadConfigFile(configFile_depth);
#else
// Depth
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalFeatureEstimationMethod(
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationMethod(2);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacMaxIter(200);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalSamplingStep(2, 2);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthDenseSamplingStep(4, 4);
cam.initPersProjWithoutDistortion(476.0536193848, 476.0534973145, 311.4845581055, 246.2832336426);
dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam);
tracker->setAngleAppear(vpMath::rad(70));
// Specify the clipping to
tracker->setNearClippingDistance(0.01);
tracker->setFarClippingDistance(2.0);
// tracker->setClipping(tracker->getClipping() | vpMbtPolygon::LEFT_CLIPPING
// | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
// vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
#endif
}
std::vector<std::string> getCastleElementNames(const int element)
{
std::vector<std::string> element_names;
if (element & 0x1)
element_names.push_back("floor");
if (element & 0x2)
element_names.push_back("front_door");
if (element & 0x4)
element_names.push_back("slope");
if (element & 0x8)
element_names.push_back("tower_front");
if (element & 0x10)
element_names.push_back("tower_left");
if (element & 0x20)
element_names.push_back("tower_right");
if (element & 0x40)
element_names.push_back("tower_back");
return element_names;
}
}
int main(int argc, const char **argv)
{
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_configFile_depth;
std::string opt_modelFile_depth;
std::string opt_initFile;
std::string initFile;
bool displayFeatures = true;
bool opt_click_allowed = true;
bool opt_display = true;
bool useOgre = false;
bool showOgreConfigDialog = false;
bool useScanline = false;
bool computeCovariance = false;
bool projectionError = false;
int trackerType_depth = vpMbGenericTracker::DEPTH_DENSE_TRACKER;
#if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
// To avoid Debian test timeout
int opt_lastFrame = 5;
#else
int opt_lastFrame = -1;
#endif
int disable_castle_faces = 0;
// 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_configFile_depth, opt_modelFile_depth, opt_initFile, displayFeatures,
opt_click_allowed, opt_display, useOgre, showOgreConfigDialog, useScanline, computeCovariance,
projectionError, trackerType_depth, opt_lastFrame, disable_castle_faces)) {
return EXIT_FAILURE;
}
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL);
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
<< std::endl;
return EXIT_FAILURE;
}
// Get the option values
ipath = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/castel");
std::string dir_path = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth");
if (!vpIoTools::checkDirectory(dir_path)) {
std::cerr << "ViSP-images does not contain the folder: " << dir_path << "!" << std::endl;
return EXIT_SUCCESS;
}
std::string configFile_depth;
if (!opt_configFile_depth.empty())
configFile_depth = opt_configFile_depth;
else
configFile_depth =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau_depth.xml");
std::string modelFile_depth;
if (!opt_modelFile_depth.empty())
modelFile_depth = opt_modelFile_depth;
else
modelFile_depth =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.cao");
std::string vrml_ext = ".wrl";
bool use_vrml =
(modelFile_depth.compare(modelFile_depth.length() - vrml_ext.length(), vrml_ext.length(), vrml_ext) == 0);
if (use_vrml) {
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 2 || COIN_MAJOR_VERSION == 3 || COIN_MAJOR_VERSION == 4)
std::cout << "use_vrml: " << use_vrml << std::endl;
#else
std::cerr << "Error: vrml model file is only supported if ViSP is "
"build with Coin3D 3rd party"
<< std::endl;
return EXIT_FAILURE;
#endif
}
if (!opt_initFile.empty())
initFile = opt_initFile;
else
initFile = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.init");
vpImage<uint16_t> I_depth_raw;
std::vector<vpColVector> pointcloud;
unsigned int pointcloud_width, pointcloud_height;
if (!read_data(0, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height)) {
std::cerr << "Cannot open sequence: " << ipath << std::endl;
return EXIT_FAILURE;
}
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
// initialise a display
#if defined VISP_HAVE_X11
vpDisplayX display, display2;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display, display2;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV display, display2;
#elif defined VISP_HAVE_D3D9
vpDisplayD3D display, display2;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display, display2;
#else
opt_display = false;
#endif
if (opt_display) {
#if defined(VISP_HAVE_DISPLAY)
display.init(I_depth, 100, 100, "Depth");
display2.init(I, I_depth.getWidth()+100, 100, "Image");
#endif
vpDisplay::flush(I_depth);
}
// Object pointer to check that inheritance is ok
vpMbTracker *tracker = new vpMbGenericTracker(1, trackerType_depth);
loadConfiguration(tracker, configFile_depth);
// Display the moving edges, and the Klt points
tracker->setDisplayFeatures(displayFeatures);
// Tells if the tracker has to use Ogre3D for visibility tests
tracker->setOgreVisibilityTest(useOgre);
if (useOgre)
tracker->setOgreShowConfigDialog(showOgreConfigDialog);
// Tells if the tracker has to use the scanline visibility tests
tracker->setScanLineVisibilityTest(useScanline);
// Tells if the tracker has to compute the covariance matrix
tracker->setCovarianceComputation(computeCovariance);
// Tells if the tracker has to compute the projection error
tracker->setProjectionErrorComputation(projectionError);
// For generic projection error computation
tracker->setProjectionErrorDisplay(true);
// Retrieve the camera parameters from the tracker
dynamic_cast<vpMbGenericTracker *>(tracker)->getCameraParameters(cam);
vpCameraParameters cam_color;
cam_color.initPersProjWithoutDistortion(615.1674804688, 615.1675415039, 312.1889953613, 243.4373779297);
vpHomogeneousMatrix depth_M_color;
std::string depth_M_color_filename =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/depth_M_color.txt");
{
std::ifstream depth_M_color_file(depth_M_color_filename.c_str());
depth_M_color.load(depth_M_color_file);
}
// Loop to position the object
if (opt_display && opt_click_allowed) {
while (!vpDisplay::getClick(I_depth, false)) {
vpDisplay::displayText(I_depth, 15, 10, "click after positioning the object", vpColor::red);
vpDisplay::flush(I_depth);
}
}
// Load the 3D model (either a vrml file or a .cao file)
dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile_depth);
if (opt_display && opt_click_allowed) {
// Initialise the tracker by clicking on the image
dynamic_cast<vpMbGenericTracker *>(tracker)->initClick(I_depth, initFile, true);
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(cMo);
// display the 3D model at the given pose
dynamic_cast<vpMbGenericTracker *>(tracker)->display(I_depth, cMo, cam, vpColor::red);
} else {
vpHomogeneousMatrix cMoi(0.04431452054, 0.09294637757, 0.3357760654, -2.677922443, 0.121297639, -0.6028463357);
dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I_depth, cMoi);
}
// track the model
{
std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
mapOfPointclouds["Camera"] = &pointcloud;
std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
mapOfWidths["Camera"] = pointcloud_width;
mapOfHeights["Camera"] = pointcloud_height;
dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
}
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(cMo);
if (opt_display) {
vpDisplay::flush(I_depth);
}
bool quit = false, click = false;
unsigned int frame_index = 0;
std::vector<double> time_vec;
while (read_data(frame_index, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height) && !quit &&
(opt_lastFrame > 0 ? (int)frame_index <= opt_lastFrame : true)) {
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
if (opt_display) {
std::stringstream ss;
ss << "Num frame: " << frame_index;
vpDisplay::displayText(I_depth, 40, 20, ss.str(), vpColor::red);
}
// Test reset the tracker
if (frame_index == 10) {
std::cout << "----------Test reset tracker----------" << std::endl;
if (opt_display) {
}
tracker->resetTracker();
loadConfiguration(tracker, configFile_depth);
dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile_depth);
dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam);
tracker->setOgreVisibilityTest(useOgre);
tracker->setScanLineVisibilityTest(useScanline);
tracker->setCovarianceComputation(computeCovariance);
tracker->setProjectionErrorComputation(projectionError);
dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I_depth, cMo);
}
// Test set an initial pose
#if USE_SMALL_DATASET
if (frame_index == 20) {
cMo.buildFrom(0.05319520317, 0.09223511976, 0.3380095812, -2.71438192, 0.07141055397, -0.3810081638);
#else
if (frame_index == 50) {
cMo.buildFrom(0.06865933578, 0.09494713501, 0.3260555142, -2.730027451, 0.03498390135, 0.01989831338);
#endif
std::cout << "Test set pose" << std::endl;
dynamic_cast<vpMbGenericTracker *>(tracker)->setPose(I_depth, cMo);
}
#if USE_SMALL_DATASET
// track the object: stop tracking from frame 15 to 20
if (frame_index < 15 || frame_index >= 20) {
#else
// track the object: stop tracking from frame 30 to 50
if (frame_index < 30 || frame_index >= 50) {
#endif
std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
mapOfPointclouds["Camera"] = &pointcloud;
std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
mapOfWidths["Camera"] = pointcloud_width;
mapOfHeights["Camera"] = pointcloud_height;
if (disable_castle_faces) {
std::vector<std::string> element_names = getCastleElementNames(disable_castle_faces);
std::cout << "Disable: ";
for (size_t idx = 0; idx < element_names.size(); idx++) {
std::cout << element_names[idx];
if (idx + 1 < element_names.size())
std::cout << ", ";
if (trackerType_depth & vpMbGenericTracker::DEPTH_DENSE_TRACKER)
dynamic_cast<vpMbGenericTracker *>(tracker)->setUseDepthDenseTracking(element_names[idx], false);
dynamic_cast<vpMbGenericTracker *>(tracker)->setUseDepthNormalTracking(element_names[idx], false);
}
std::cout << std::endl;
}
double t = vpTime::measureTimeMs();
dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
time_vec.push_back(t);
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(cMo);
if (opt_display) {
// display the 3D model
dynamic_cast<vpMbGenericTracker *>(tracker)->display(I_depth, cMo, cam, vpColor::darkRed);
// display the frame
vpDisplay::displayFrame(I_depth, cMo, cam, 0.05);
// computation time
std::stringstream ss;
ss << "Computation time: " << t << " ms";
vpDisplay::displayText(I_depth, 60, 20, ss.str(), vpColor::red);
// nb features
ss.str("");
ss << "nb features: " << tracker->getError().getRows();
vpDisplay::displayText(I_depth, 80, 20, ss.str(), vpColor::red);
// generic projection error computed on image from the RGB camera
double projection_error = tracker->computeCurrentProjectionError(I, depth_M_color.inverse()*cMo, cam_color);
ss.str("");
ss << "Projection error: " << projection_error;
vpDisplay::displayText(I, 20, 20, ss.str(), vpColor::red);
}
}
if (opt_click_allowed && opt_display) {
vpDisplay::displayText(I_depth, 10, 10, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I_depth, button, click)) {
switch (button) {
quit = !click;
break;
click = !click;
break;
default:
break;
}
}
}
if (computeCovariance) {
std::cout << "Covariance matrix: \n" << tracker->getCovarianceMatrix() << std::endl << std::endl;
}
if (projectionError) {
std::cout << "Projection error: " << tracker->getProjectionError() << std::endl << std::endl;
}
if (opt_display) {
vpDisplay::flush(I_depth);
}
frame_index++;
}
std::cout << "\nFinal poses, cMo:\n" << cMo << std::endl;
std::cout << "\nComputation time, Mean: " << vpMath::getMean(time_vec)
<< " ms ; Median: " << vpMath::getMedian(time_vec) << " ms ; Std: " << vpMath::getStdev(time_vec) << " ms"
<< std::endl;
if (opt_click_allowed && !quit) {
}
delete tracker;
tracker = NULL;
#if defined(VISP_HAVE_XML2) && USE_XML
// Cleanup memory allocated by xml library used to parse the xml config
// file in vpMbGenericTracker::loadConfigFile()
#endif
#if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 2 || COIN_MAJOR_VERSION == 3 || COIN_MAJOR_VERSION == 4)
// Cleanup memory allocated by Coin library used to load a vrml model in
// vpMbGenericTracker::loadModel() We clean only if Coin was used.
if (use_vrml)
SoDB::finish();
#endif
return EXIT_SUCCESS;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
return EXIT_FAILURE;
}
}
#else
int main()
{
std::cerr << "visp_mbt, visp_gui modules and OpenCV are required to run "
"this example."
<< std::endl;
return EXIT_SUCCESS;
}
#endif