Visual Servoing Platform  version 3.2.0 under development (2018-12-11)
tutorial-mb-generic-tracker-stereo-mono.cpp
#include <cstdlib>
#include <visp3/core/vpConfig.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020300)
try {
std::string opt_videoname = "teabox.mpg";
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 1 < argc)
opt_videoname = std::string(argv[i + 1]);
else if (std::string(argv[i]) == "--tracker" && i + 1 < argc)
opt_tracker = atoi(argv[i + 1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0]
<< " [--name <video name>] [--tracker "
"<1=egde|2=keypoint|3=hybrid>] [--help]\n"
<< std::endl;
return EXIT_SUCCESS;
}
}
if (opt_tracker < 1 || opt_tracker > 3) {
std::cerr << "Wrong tracker type. Correct values are: "
"1=egde|2=keypoint|3=hybrid."
<< std::endl;
return EXIT_SUCCESS;
}
std::string parentname = vpIoTools::getParent(opt_videoname);
std::string objectname = vpIoTools::getNameWE(opt_videoname);
if (!parentname.empty()) {
objectname = parentname + "/" + objectname;
}
std::cout << "Video name: " << opt_videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
g.setFileName(opt_videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#else
vpDisplayOpenCV display;
#endif
display.init(I, 100, 100, "Model-based tracker");
vpMbGenericTracker tracker(1, opt_tracker);
#if !defined(VISP_HAVE_MODULE_KLT)
if (opt_tracker >= 2) {
std::cout << "KLT and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return EXIT_SUCCESS;
}
#endif
#ifdef VISP_HAVE_XML2
tracker.loadConfigFile(objectname + ".xml");
#else
if (opt_tracker == 1 || opt_tracker == 3) {
vpMe me;
me.setMaskSize(5);
me.setMaskNumber(180);
me.setRange(8);
me.setThreshold(10000);
me.setMu1(0.5);
me.setMu2(0.5);
tracker.setMovingEdge(me);
}
#ifdef VISP_HAVE_MODULE_KLT
if (opt_tracker == 2 || opt_tracker == 3) {
vpKltOpencv klt_settings;
tracker.setKltMaskBorder(5);
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);
}
#endif
{
cam.initPersProjWithoutDistortion(839.21470, 839.44555, 325.66776, 243.69727);
tracker.setCameraParameters(cam);
}
#endif
tracker.loadModel(objectname + ".cao");
tracker.setDisplayFeatures(true);
tracker.initClick(I, objectname + ".init", true);
while (!g.end()) {
g.acquire(I);
tracker.track(I);
tracker.getPose(cMo);
tracker.getCameraParameters(cam);
tracker.display(I, cMo, cam, vpColor::red, 2, true);
vpDisplay::displayFrame(I, cMo, cam, 0.025, vpColor::none, 3);
vpDisplay::displayText(I, 10, 10, "A click to exit...", vpColor::red);
if (vpDisplay::getClick(I, false)) {
break;
}
}
} catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.what() << std::endl;
}
return EXIT_SUCCESS;
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
return EXIT_SUCCESS;
#endif
}