48 #include <visp/vpConfig.h>
49 #include <visp/vpDebug.h>
50 #include <visp/vpDisplayD3D.h>
51 #include <visp/vpDisplayGTK.h>
52 #include <visp/vpDisplayGDI.h>
53 #include <visp/vpDisplayOpenCV.h>
54 #include <visp/vpDisplayX.h>
55 #include <visp/vpHomogeneousMatrix.h>
56 #include <visp/vpImageIo.h>
57 #include <visp/vpIoTools.h>
58 #include <visp/vpMath.h>
59 #include <visp/vpMbKltTracker.h>
60 #include <visp/vpVideoReader.h>
61 #include <visp/vpParseArgv.h>
63 #if defined (VISP_HAVE_OPENCV) && defined (VISP_HAVE_DISPLAY)
66 #define GETOPTARGS "x:m:i:n:dchtfo"
68 void usage(
const char *name,
const char *badparam);
69 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
70 std::string &initFile,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
71 bool& cao3DModel,
bool &useOgre);
73 void usage(
const char *name,
const char *badparam)
76 Example of tracking based on the 3D model.\n\
79 %s [-i <test image path>] [-x <config file>]\n\
80 [-m <model name>] [-n <initialisation file base name>]\n\
81 [-t] [-c] [-d] [-h] [-f]",
86 -i <input image path> \n\
87 Set image input path.\n\
88 From this path read images \n\
89 \"ViSP-images/mbt/cube/image%%04d.ppm\". These \n\
90 images come from ViSP-images-x.y.z.tar.gz available \n\
91 on the ViSP website.\n\
92 Setting the VISP_INPUT_IMAGE_PATH environment\n\
93 variable produces the same behaviour than using\n\
97 Set the config file (the xml file) to use.\n\
98 The config file is used to specify the parameters of the tracker.\n\
101 Specify the name of the file of the model\n\
102 The model can either be a vrml model (.wrl) or a .cao file.\n\
105 Do not use the vrml model, use the .cao one. These two models are \n\
106 equivalent and comes from ViSP-images-x.y.z.tar.gz available on the ViSP\n\
107 website. However, the .cao model allows to use the 3d model based tracker \n\
110 -n <initialisation file base name> \n\
111 Base name of the initialisation file. The file will be 'base_name'.init .\n\
112 This base name is also used for the optionnal picture specifying where to \n\
113 click (a .ppm picture).\
116 Turn off the display of the the klt points. \n\
119 Turn off the display.\n\
122 Disable the mouse click. Useful to automaze the \n\
123 execution of this program without humain intervention.\n\
126 Use Ogre3D for visibility tests\n\
129 Print the help.\n\n");
132 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
136 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
137 std::string &initFile,
bool &displayKltPoints,
bool &click_allowed,
bool &display,
138 bool& cao3DModel,
bool &useOgre)
145 case 'i': ipath = optarg_;
break;
146 case 'x': configFile = optarg_;
break;
147 case 'm': modelFile = optarg_;
break;
148 case 'n': initFile = optarg_;
break;
149 case 't': displayKltPoints =
false;
break;
150 case 'f': cao3DModel =
true;
break;
151 case 'c': click_allowed =
false;
break;
152 case 'd': display =
false;
break;
153 case 'o': useOgre =
true;
break;
154 case 'h': usage(argv[0], NULL);
return false;
break;
157 usage(argv[0], optarg_);
162 if ((c == 1) || (c == -1)) {
164 usage(argv[0], NULL);
165 std::cerr <<
"ERROR: " << std::endl;
166 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
174 main(
int argc,
const char ** argv)
177 std::string env_ipath;
178 std::string opt_ipath;
180 std::string opt_configFile;
181 std::string configFile;
182 std::string opt_modelFile;
183 std::string modelFile;
184 std::string opt_initFile;
185 std::string initFile;
186 bool displayKltPoints =
true;
187 bool opt_click_allowed =
true;
188 bool opt_display =
true;
189 bool cao3DModel =
false;
190 bool useOgre =
false;
193 char *ptenv = getenv(
"VISP_INPUT_IMAGE_PATH");
198 if (! env_ipath.empty())
203 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, displayKltPoints, opt_click_allowed, opt_display, cao3DModel, useOgre)) {
208 if (opt_ipath.empty() && env_ipath.empty() ){
209 usage(argv[0], NULL);
210 std::cerr << std::endl
211 <<
"ERROR:" << std::endl;
212 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH "
214 <<
" environment variable to specify the location of the " << std::endl
215 <<
" image path where test images are located." << std::endl
222 if (!opt_ipath.empty())
223 ipath = opt_ipath +
vpIoTools::path(
"/ViSP-images/mbt/cube/image%04d.pgm");
225 ipath = env_ipath +
vpIoTools::path(
"/ViSP-images/mbt/cube/image%04d.pgm");
227 if (!opt_configFile.empty())
228 configFile = opt_configFile;
229 else if (!opt_ipath.empty())
234 if (!opt_modelFile.empty()){
235 modelFile = opt_modelFile;
237 std::string modelFileCao =
"/ViSP-images/mbt/cube.cao";
238 std::string modelFileWrl =
"/ViSP-images/mbt/cube.wrl";
240 if(!opt_ipath.empty()){
245 #ifdef VISP_HAVE_COIN
248 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
258 #ifdef VISP_HAVE_COIN
261 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
268 if (!opt_initFile.empty())
269 initFile = opt_initFile;
270 else if (!opt_ipath.empty())
282 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
289 #if defined VISP_HAVE_X11
291 #elif defined VISP_HAVE_GDI
293 #elif defined VISP_HAVE_OPENCV
295 #elif defined VISP_HAVE_D3D9
297 #elif defined VISP_HAVE_GTK
304 #if (defined VISP_HAVE_DISPLAY)
305 display.
init(I, 100, 100,
"Test tracking") ;
316 #if defined (VISP_HAVE_XML2)
355 if (opt_display && opt_click_allowed)
360 "click after positioning the object",
373 if (opt_display && opt_click_allowed)
375 tracker.
initClick(I, initFile.c_str(),
true);
382 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
396 while (!reader.
end())
422 #if defined (VISP_HAVE_XML2)
427 #ifdef VISP_HAVE_COIN
435 std::cout <<
"Catch an exception: " << e << std::endl;
444 std::cout <<
"OpenCV and display are required." << std::endl;
void setKltOpencv(const vpKltOpencv &t)
virtual void track(const vpImage< unsigned char > &I)
void setQuality(double input)
The class provides a data structure for the homogeneous matrices as well as a set of operations on th...
static const vpColor darkRed
Display for windows using GDI (available on any windows 32 platform).
Define the X11 console to display images.
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
error that can be emited by ViSP classes.
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const char *title=NULL)
void setPyramidLevels(const int input)
void setBlockSize(const int input)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
static void flush(const vpImage< unsigned char > &I)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
virtual void loadConfigFile(const std::string &configFile)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< vpRGBa > &I)
virtual void setAngleAppear(const double &a)
Display for windows using Direct3D.
void setWindowSize(const int input)
void getPose(vpHomogeneousMatrix &cMo_) const
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the opencv library.
virtual unsigned int getClipping() const
virtual void getCameraParameters(vpCameraParameters &camera) const
Generic class defining intrinsic camera parameters.
virtual void loadModel(const std::string &modelFile)
The vpDisplayGTK allows to display image using the GTK+ library version 1.2.
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
Model based tracker using only KLT.
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, const bool displayHelp=false)
static void displayFrame(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, double size, const vpColor &color, unsigned int thickness=1)
static double rad(double deg)
virtual void setAngleDisappear(const double &a)
void setMaskBorder(const unsigned int &e)
void setCameraParameters(const vpCameraParameters &cam)
virtual void setOgreVisibilityTest(const bool &v)
virtual void displayCharString(const vpImagePoint &ip, const char *text, const vpColor &color=vpColor::green)=0
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV.
virtual void setNearClippingDistance(const double &dist)
virtual void setClipping(const unsigned int &flags)
virtual bool getClick(bool blocking=true)=0
void setDisplayFeatures(const bool displayF)
void setMaxFeatures(const int input)
void setMinDistance(double input)
virtual void setFarClippingDistance(const double &dist)
static const vpColor blue
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, const unsigned int thickness=1, const bool displayFullModel=false)
void setHarrisFreeParameter(double input)