3 #include <visp3/core/vpConfig.h>
4 #include <visp3/core/vpIoTools.h>
5 #include <visp3/gui/vpDisplayGDI.h>
6 #include <visp3/gui/vpDisplayOpenCV.h>
7 #include <visp3/gui/vpDisplayX.h>
8 #include <visp3/io/vpImageIo.h>
10 #include <visp3/mbt/vpMbGenericTracker.h>
12 #include <visp3/io/vpVideoReader.h>
14 int main(
int argc,
char **argv)
16 #if defined(VISP_HAVE_OPENCV) && defined(VISP_HAVE_PUGIXML)
18 std::string opt_videoname_left =
"teabox_left.mp4";
19 std::string opt_videoname_right =
"teabox_right.mp4";
23 for (
int i = 0; i < argc; i++) {
24 if (std::string(argv[i]) ==
"--name" && i + 2 < argc) {
25 opt_videoname_left = std::string(argv[i + 1]);
26 opt_videoname_right = std::string(argv[i + 2]);
28 else if (std::string(argv[i]) ==
"--tracker" && i + 2 < argc) {
29 opt_tracker1 = atoi(argv[i + 1]);
30 opt_tracker2 = atoi(argv[i + 2]);
32 else if (std::string(argv[i]) ==
"--help") {
33 std::cout <<
"\nUsage: " << argv[0]
34 <<
" [--name <video name left> <video name right>]"
35 " [--tracker <1=egde|2=klt|3=hybrid> <1=egde|2=klt|3=hybrid>]"
42 if ((opt_tracker1 < 1 || opt_tracker1 > 3) && (opt_tracker2 < 1 || opt_tracker2 > 3)) {
43 std::cerr <<
"Wrong tracker type. Correct values are: "
44 "1=egde|2=keypoint|3=hybrid."
53 if (!parentname.empty()) {
54 objectname_left = parentname +
"/" + objectname_left;
57 std::cout <<
"Video name: " << opt_videoname_left <<
" ; " << opt_videoname_right << std::endl;
58 std::cout <<
"Tracker requested config files: " << objectname_left <<
".[init, cao]"
59 <<
" and " << objectname_right <<
".[init, cao]" << std::endl;
60 std::cout <<
"Tracker optional config files: " << opt_videoname_left <<
".ppm"
61 <<
" and " << opt_videoname_right <<
".ppm" << std::endl;
71 g_right.
open(I_right);
73 #if defined(VISP_HAVE_X11)
76 #elif defined(VISP_HAVE_GDI)
79 #elif defined(HAVE_OPENCV_HIGHGUI)
85 display_left.
init(I_left, 100, 100,
"Model-based tracker (Left)");
86 display_right.
init(I_right, 110 + (
int)I_left.
getWidth(), 100,
"Model-based tracker (Right)");
89 std::vector<int> trackerTypes(2);
90 trackerTypes[0] = opt_tracker1;
91 trackerTypes[1] = opt_tracker2;
95 #if !defined(VISP_HAVE_MODULE_KLT)
96 if (opt_tracker >= 2) {
97 std::cout <<
"klt and hybrid model-based tracker are not available "
98 "since visp_klt module is missing"
105 tracker.loadConfigFile(objectname_left +
".xml", objectname_right +
".xml");
109 tracker.loadModel(objectname_left +
".cao", objectname_right +
".cao");
112 tracker.setDisplayFeatures(
true);
117 std::ifstream file_cRightMcLeft(
"cRightMcLeft.txt");
118 cRightMcLeft.
load(file_cRightMcLeft);
120 std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
122 mapOfCameraTransformationMatrix[
"Camera2"] = cRightMcLeft;
124 tracker.setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
128 tracker.initClick(I_left, I_right, objectname_left +
".init", objectname_right +
".init",
true);
131 while (!g_left.
end() && !g_right.
end()) {
139 tracker.track(I_left, I_right);
144 tracker.getPose(cLeftMo, cRightMo);
149 tracker.getCameraParameters(cam_left, cam_right);
150 tracker.display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right,
vpColor::red, 2);
167 std::cerr <<
"Catch a ViSP exception: " << e.
what() << std::endl;
172 std::cout <<
"Install OpenCV and rebuild ViSP to use this example." << std::endl;
Generic class defining intrinsic camera parameters.
static const vpColor none
Display for windows using GDI (available on any windows 32 platform).
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...
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="") vp_override
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
static void display(const vpImage< unsigned char > &I)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color=vpColor::none, unsigned int thickness=1, const vpImagePoint &offset=vpImagePoint(0, 0), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
const char * what() const
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
unsigned int getWidth() const
Real-time 6D object pose tracking using its CAD model.
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)