ViSP  2.10.0
tutorial-mb-edge-tracker.cpp
#include <visp/vpDisplayGDI.h>
#include <visp/vpDisplayOpenCV.h>
#include <visp/vpDisplayX.h>
#include <visp/vpImageIo.h>
#include <visp/vpIoTools.h>
#include <visp/vpMbEdgeTracker.h>
#include <visp/vpVideoReader.h>
int main(int argc, char** argv)
{
#if defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100) || defined(VISP_HAVE_FFMPEG)
try {
std::string videoname = "teabox.mpg";
for (int i=0; i<argc; i++) {
if (std::string(argv[i]) == "--name")
videoname = std::string(argv[i+1]);
else if (std::string(argv[i]) == "--help") {
std::cout << "\nUsage: " << argv[0] << " [--name <video name>] [--help]\n" << std::endl;
return 0;
}
}
std::string parentname = vpIoTools::getParent(videoname);
std::string objectname = vpIoTools::getNameWE(videoname);
if(! parentname.empty())
objectname = parentname + "/" + objectname;
std::cout << "Video name: " << videoname << std::endl;
std::cout << "Tracker requested config files: " << objectname
<< ".[init,"
#ifdef VISP_HAVE_XML2
<< "xml,"
#endif
<< "cao or wrl]" << std::endl;
std::cout << "Tracker optional config files: " << objectname << ".[ppm]" << std::endl;
g.setFileName(videoname);
g.open(I);
#if defined(VISP_HAVE_X11)
vpDisplayX display;
#elif defined(VISP_HAVE_GDI)
vpDisplayGDI display;
#elif defined(VISP_HAVE_OPENCV)
vpDisplayOpenCV display;
#else
std::cout << "No image viewer is available..." << std::endl;
return 0;
#endif
display.init(I, 100, 100,"Model-based edge tracker");
vpMbEdgeTracker tracker;
bool usexml = false;
#ifdef VISP_HAVE_XML2
if(vpIoTools::checkFilename(objectname + ".xml")) {
tracker.loadConfigFile(objectname + ".xml");
usexml = true;
}
#endif
if (! usexml) {
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);
cam.initPersProjWithoutDistortion(839, 839, 325, 243);
tracker.setCameraParameters(cam);
tracker.setAngleAppear( vpMath::rad(70) );
tracker.setFarClippingDistance(100.0);
}
tracker.setOgreVisibilityTest(false);
if(vpIoTools::checkFilename(objectname + ".cao"))
tracker.loadModel(objectname + ".cao");
else if(vpIoTools::checkFilename(objectname + ".wrl"))
tracker.loadModel(objectname + ".wrl");
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);
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;
}
#ifdef VISP_HAVE_XML2
#endif
#if defined(VISP_HAVE_COIN) && (COIN_MAJOR_VERSION == 3)
SoDB::finish();
#endif
}
catch(vpException e) {
std::cout << "Catch an exception: " << e << std::endl;
}
#else
(void)argc;
(void)argv;
std::cout << "Install OpenCV or ffmpeg and rebuild ViSP to use this example." << std::endl;
#endif
}