#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;
}
}
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;
vpDisplay *display_left = NULL, *display_right = NULL;
#if defined(VISP_HAVE_X11)
#elif defined(VISP_HAVE_GDI)
#else
#endif
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)");
if (opt_tracker == 0)
#ifdef VISP_HAVE_MODULE_KLT
else if (opt_tracker == 1)
else
#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)
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
objectname_right + ".xml");
#endif
if (opt_tracker == 0)
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
else
#endif
std::ifstream file_cRightMcLeft("cRightMcLeft.txt");
cRightMcLeft.
load(file_cRightMcLeft);
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrix;
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
#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
objectname_right + ".init", true);
#endif
while (!g_left.
end() && !g_right.
end()) {
if (opt_tracker == 0)
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
else
#endif
if (opt_tracker == 0)
#if defined(VISP_HAVE_MODULE_KLT)
else if (opt_tracker == 1)
else
#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
#endif
break;
}
}
delete display_left;
delete display_right;
delete tracker;
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)