48 #include <visp3/core/vpConfig.h> 50 #if defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY) 52 #include <visp3/core/vpDebug.h> 53 #include <visp3/core/vpHomogeneousMatrix.h> 54 #include <visp3/core/vpIoTools.h> 55 #include <visp3/core/vpMath.h> 56 #include <visp3/gui/vpDisplayD3D.h> 57 #include <visp3/gui/vpDisplayGDI.h> 58 #include <visp3/gui/vpDisplayGTK.h> 59 #include <visp3/gui/vpDisplayOpenCV.h> 60 #include <visp3/gui/vpDisplayX.h> 61 #include <visp3/io/vpImageIo.h> 62 #include <visp3/io/vpParseArgv.h> 63 #include <visp3/io/vpVideoReader.h> 64 #include <visp3/mbt/vpMbGenericTracker.h> 66 #define GETOPTARGS "x:m:i:n:de:chtfColwvpT:" 70 void usage(
const char *name,
const char *badparam)
73 Example of tracking based on the 3D model.\n\ 76 %s [-i <test image path>] [-x <config file>]\n\ 77 [-m <model name>] [-n <initialisation file base name>] [-e <last frame index>]\n\ 78 [-t] [-c] [-d] [-h] [-f] [-C] [-o] [-w] [-l] [-v] [-p]\n\ 79 [-T <tracker type>]\n", name);
83 -i <input image path> \n\ 84 Set image input path.\n\ 85 From this path read images \n\ 86 \"mbt/cube/image%%04d.ppm\". These \n\ 87 images come from ViSP-images-x.y.z.tar.gz available \n\ 88 on the ViSP website.\n\ 89 Setting the VISP_INPUT_IMAGE_PATH environment\n\ 90 variable produces the same behavior than using\n\ 94 Set the config file (the xml file) to use.\n\ 95 The config file is used to specify the parameters of the tracker.\n\ 98 Specify the name of the file of the model\n\ 99 The model can either be a vrml model (.wrl) or a .cao file.\n\ 101 -e <last frame index> \n\ 102 Specify the index of the last frame. Once reached, the tracking is stopped\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\ 111 Track only the cube (not the cylinder). In this case the models files are\n\ 112 cube.cao or cube.wrl instead of cube_and_cylinder.cao and \n\ 113 cube_and_cylinder.wrl.\n\ 115 -n <initialisation file base name> \n\ 116 Base name of the initialisation file. The file will be 'base_name'.init .\n\ 117 This base name is also used for the optional picture specifying where to \n\ 118 click (a .ppm picture).\n\ 121 Turn off the display of the the moving edges and Klt points. \n\ 124 Turn off the display.\n\ 127 Disable the mouse click. Useful to automate the \n\ 128 execution of this program without human intervention.\n\ 131 Use Ogre3D for visibility tests\n\ 134 When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\ 137 Use the scanline for visibility tests.\n\ 140 Compute covariance matrix.\n\ 143 Compute gradient projection error.\n\ 146 Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (EdgeKlt)>).\n\ 149 Print the help.\n\n");
152 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
155 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
156 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
157 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
158 bool &computeCovariance,
bool &projectionError,
int &trackerType)
166 lastFrame = atol(optarg_);
172 configFile = optarg_;
181 displayFeatures =
false;
187 click_allowed =
false;
193 trackCylinder =
false;
202 showOgreConfigDialog =
true;
205 computeCovariance =
true;
208 projectionError =
true;
211 trackerType = atoi(optarg_);
214 usage(argv[0], NULL);
219 usage(argv[0], optarg_);
225 if ((c == 1) || (c == -1)) {
227 usage(argv[0], NULL);
228 std::cerr <<
"ERROR: " << std::endl;
229 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
236 int main(
int argc,
const char **argv)
239 std::string env_ipath;
240 std::string opt_ipath;
242 std::string opt_configFile;
243 std::string opt_modelFile;
244 std::string modelFile;
245 std::string opt_initFile;
246 std::string initFile;
247 long opt_lastFrame = -1;
248 bool displayFeatures =
true;
249 bool opt_click_allowed =
true;
250 bool opt_display =
true;
251 bool cao3DModel =
false;
252 bool trackCylinder =
true;
253 bool useOgre =
false;
254 bool showOgreConfigDialog =
false;
255 bool useScanline =
false;
256 bool computeCovariance =
false;
257 bool projectionError =
false;
265 if (!env_ipath.empty())
269 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
270 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
271 useScanline, computeCovariance, projectionError, trackerType)) {
276 if (opt_ipath.empty() && env_ipath.empty()) {
277 usage(argv[0], NULL);
278 std::cerr << std::endl <<
"ERROR:" << std::endl;
279 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
280 <<
" environment variable to specify the location of the " << std::endl
281 <<
" image path where test images are located." << std::endl
288 if (!opt_ipath.empty())
293 #if defined(VISP_HAVE_XML2) && USE_XML 294 std::string configFile;
295 if (!opt_configFile.empty())
296 configFile = opt_configFile;
297 else if (!opt_ipath.empty())
303 if (!opt_modelFile.empty()) {
304 modelFile = opt_modelFile;
306 std::string modelFileCao;
307 std::string modelFileWrl;
309 modelFileCao =
"mbt/cube_and_cylinder.cao";
310 modelFileWrl =
"mbt/cube_and_cylinder.wrl";
312 modelFileCao =
"mbt/cube.cao";
313 modelFileWrl =
"mbt/cube.wrl";
316 if (!opt_ipath.empty()) {
320 #ifdef VISP_HAVE_COIN3D 323 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
331 #ifdef VISP_HAVE_COIN3D 334 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
341 if (!opt_initFile.empty())
342 initFile = opt_initFile;
343 else if (!opt_ipath.empty())
356 std::cerr <<
"Cannot open sequence: " << ipath << std::endl;
367 #if defined VISP_HAVE_X11 369 #elif defined VISP_HAVE_GDI 371 #elif defined VISP_HAVE_OPENCV 373 #elif defined VISP_HAVE_D3D9 375 #elif defined VISP_HAVE_GTK 381 #if (defined VISP_HAVE_DISPLAY) 384 display1.
init(I1, 100, 100,
"Test tracking (Left)");
398 #if defined(VISP_HAVE_XML2) && USE_XML 415 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)) 465 if (opt_display && opt_click_allowed) {
482 if (opt_display && opt_click_allowed) {
483 dynamic_cast<vpMbGenericTracker *
>(tracker)->initClick(I1, I2, initFile, initFile,
true);
488 vpHomogeneousMatrix c1Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
489 vpHomogeneousMatrix c2Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
502 bool quit =
false, click =
false;
503 while (!reader.
end() && !quit) {
512 std::stringstream ss;
519 std::cout <<
"----------Test reset tracker----------" << std::endl;
526 #if defined(VISP_HAVE_XML2) && USE_XML 542 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)) 580 c1Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
581 c2Mo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
582 std::cout <<
"Test set pose" << std::endl;
600 if (opt_click_allowed) {
619 if (computeCovariance) {
620 std::cout <<
"Covariance matrix: \n" << tracker->
getCovarianceMatrix() << std::endl << std::endl;
623 if (projectionError) {
624 std::cout <<
"Projection error: " << tracker->
getProjectionError() << std::endl << std::endl;
631 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
632 std::cout <<
"\nFinal poses, c1Mo:\n" << c1Mo <<
"\nc2Mo:\n" << c2Mo << std::endl;
634 if (opt_click_allowed && !quit) {
642 #if defined(VISP_HAVE_XML2) && USE_XML 648 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION == 2 || COIN_MAJOR_VERSION == 3) 657 std::cout <<
"Catch an exception: " << e << std::endl;
666 std::cout <<
"visp_mbt, visp_gui modules and OpenCV are required to run " virtual unsigned int getClipping() const
virtual void setDisplayFeatures(const bool displayF)
virtual void setCovarianceComputation(const bool &flag)
virtual void setOgreShowConfigDialog(const bool showConfigDialog)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setHarrisFreeParameter(double harris_k)
virtual void setAngleDisappear(const double &a)
Implementation of an homogeneous matrix and operations on such kind of matrices.
void setMaskNumber(const unsigned int &a)
virtual void setDownScalingFactor(unsigned int scale)
static const vpColor darkRed
Display for windows using GDI (available on any windows 32 platform).
void setMaxFeatures(const int maxCount)
void setSampleStep(const double &s)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
virtual double getProjectionError() const
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
virtual void resetTracker()=0
static void flush(const vpImage< unsigned char > &I)
long getFirstFrameIndex()
void setMu1(const double &mu_1)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
void setQuality(double qualityLevel)
void initPersProjWithoutDistortion(const double px, const double py, const double u0, const double v0)
void open(vpImage< vpRGBa > &I)
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed...
void setMaskSize(const unsigned int &a)
static void display(const vpImage< unsigned char > &I)
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Generic class defining intrinsic camera parameters.
Main methods for a model-based tracker.
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
void acquire(vpImage< vpRGBa > &I)
void setFileName(const char *filename)
virtual void setAngleAppear(const double &a)
void setPyramidLevels(const int pyrMaxLevel)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void setMu2(const double &mu_2)
void setWindowSize(const int winSize)
long getFrameIndex() const
virtual void setOgreVisibilityTest(const bool &v)
virtual void loadModel(const char *modelFile, const bool verbose=false)
void setLastFrameIndex(const long last_frame)
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))
unsigned int getDownScalingFactor()
virtual vpMatrix getCovarianceMatrix() const
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
void setBlockSize(const int blockSize)
void setThreshold(const double &t)
virtual void setScanLineVisibilityTest(const bool &v)
virtual void setClipping(const unsigned int &flags)
void setRange(const unsigned int &r)
virtual void setFarClippingDistance(const double &dist)
unsigned int getWidth() const
virtual void setProjectionErrorComputation(const bool &flag)
virtual void setNearClippingDistance(const double &dist)