Visual Servoing Platform  version 3.2.0 under development (2018-10-16)
tutorial-mb-tracker-stereo.cpp
#include <iostream>
#include <visp3/core/vpConfig.h>
#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)
#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/vpMbEdgeKltMultiTracker.h>
#include <visp3/mbt/vpMbEdgeMultiTracker.h>
#include <visp3/io/vpVideoReader.h>
int main(int argc, char **argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)
try {
std::string opt_videoname_left = "teabox_left.mpg";
std::string opt_videoname_right = "teabox_right.mpg";
int opt_tracker = 0;
for (int i = 0; i < argc; i++) {
if (std::string(argv[i]) == "--name" && i + 2 < argc) {
opt_videoname_left = std::string(argv[i + 1]);
opt_videoname_right = std::string(argv[i + 2]);
} 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 left> <video name right>] "
"[--tracker <0=egde|1=klt|2=hybrid>] [--help]\n"
<< std::endl;
return 0;
}
}
std::string parentname = vpIoTools::getParent(opt_videoname_left);
std::string objectname_left = vpIoTools::getNameWE(opt_videoname_left);
std::string objectname_right = vpIoTools::getNameWE(opt_videoname_right);
if (!parentname.empty()) {
objectname_left = parentname + "/" + objectname_left;
}
std::cout << "Video name: " << opt_videoname_left << " ; " << opt_videoname_right << std::endl;
std::cout << "Tracker requested config files: " << objectname_left << ".[init, cao]"
<< " and " << objectname_right << ".[init, cao]" << std::endl;
std::cout << "Tracker optional config files: " << opt_videoname_left << ".ppm"
<< " and " << opt_videoname_right << ".ppm" << std::endl;
vpImage<unsigned char> I_left, I_right;
vpVideoReader g_left, g_right;
g_left.setFileName(opt_videoname_left);
g_left.open(I_left);
g_right.setFileName(opt_videoname_right);
g_right.open(I_right);
vpDisplay *display_left = NULL, *display_right = NULL;
#if defined(VISP_HAVE_X11)
display_left = new vpDisplayX;
display_right = new vpDisplayX;
#elif defined(VISP_HAVE_GDI)
display_left = new vpDisplayGDI;
display_right = new vpDisplayGDI;
#else
display_left = new vpDisplayOpenCV;
display_right = new vpDisplayOpenCV;
#endif
display_right->setDownScalingFactor(vpDisplay::SCALE_AUTO);
display_left->init(I_left, 100, 100, "Model-based tracker (Left)");
display_right->init(I_right, 110 + (int)I_left.getWidth(), 100, "Model-based tracker (Right)");
vpMbTracker *tracker;
if (opt_tracker == 0)
tracker = new vpMbEdgeMultiTracker(2);
#ifdef VISP_HAVE_MODULE_KLT
else if (opt_tracker == 1)
tracker = new vpMbKltMultiTracker(2);
else
tracker = new vpMbEdgeKltMultiTracker(2);
#else
else {
std::cout << "klt and hybrid model-based tracker are not available "
"since visp_klt module is missing"
<< std::endl;
return 0;
}
#endif
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->loadConfigFile(objectname_left + ".xml",
objectname_right + ".xml");
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->loadConfigFile(objectname_left + ".xml", objectname_right + ".xml");
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->loadConfigFile(objectname_left + ".xml",
objectname_right + ".xml");
#endif
vpCameraParameters cam_left, cam_right;
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->getCameraParameters(cam_left, cam_right);
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->getCameraParameters(cam_left, cam_right);
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->getCameraParameters(cam_left, cam_right);
#endif
tracker->loadModel("teabox.cao");
tracker->setDisplayFeatures(true);
vpHomogeneousMatrix cRightMcLeft;
std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
cRightMcLeft.load(file_cRightMcLeft);
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
mapOfCameraTransformationMatrix["Camera1"] = vpHomogeneousMatrix();
mapOfCameraTransformationMatrix["Camera2"] = cRightMcLeft;
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->setCameraTransformationMatrix(mapOfCameraTransformationMatrix);
#endif
#ifndef VISP_HAVE_XML2
std::cout << "\n**********************************************************\n"
<< "Warning: we are not able to load the tracker settings from\n"
<< "the xml config files since ViSP is not build with libxml2\n"
<< "3rd party. As a consequence, the tracking may fail !"
<< "\n**********************************************************\n"
<< std::endl;
#endif
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->initClick(I_left, I_right, objectname_left + ".init",
objectname_right + ".init", true);
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->initClick(I_left, I_right, objectname_left + ".init",
objectname_right + ".init", true);
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->initClick(I_left, I_right, objectname_left + ".init",
objectname_right + ".init", true);
#endif
vpHomogeneousMatrix cLeftMo, cRightMo;
while (!g_left.end() && !g_right.end()) {
g_left.acquire(I_left);
g_right.acquire(I_right);
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->track(I_left, I_right);
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->track(I_left, I_right);
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->track(I_left, I_right);
#endif
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->getPose(cLeftMo, cRightMo);
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->getPose(cLeftMo, cRightMo);
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->getPose(cLeftMo, cRightMo);
#endif
if (opt_tracker == 0)
dynamic_cast<vpMbEdgeMultiTracker *>(tracker)->display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right,
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
dynamic_cast<vpMbKltMultiTracker *>(tracker)->display(I_left, I_right, cLeftMo, cRightMo, cam_left, cam_right,
else
dynamic_cast<vpMbEdgeKltMultiTracker *>(tracker)->display(I_left, I_right, cLeftMo, cRightMo, cam_left,
cam_right, vpColor::red, 2);
#endif
vpDisplay::displayFrame(I_left, cLeftMo, cam_left, 0.025, vpColor::none, 3);
vpDisplay::displayFrame(I_right, cRightMo, cam_right, 0.025, vpColor::none, 3);
vpDisplay::displayText(I_left, 10, 10, "A click to exit...", vpColor::red);
vpDisplay::flush(I_right);
if (vpDisplay::getClick(I_left, false)) {
break;
}
}
delete display_left;
delete display_right;
delete tracker;
} catch (const vpException &e) {
std::cerr << "Catch a ViSP exception: " << e.getMessage() << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV and rebuild ViSP to use this example." << std::endl;
#endif
}
#else
int main()
{
std::cout << "Nothing to run, deprecated tutorial." << std::endl;
return 0;
}
#endif //#if defined(VISP_BUILD_DEPRECATED_FUNCTIONS)