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_PUGIXML) && 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())
348 std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
358 std::cerr <<
"Cannot open sequence: " << ipath << std::endl;
369 mapOfImages[
"Camera1"] = &I1;
370 mapOfImages[
"Camera2"] = &I2;
371 mapOfImages[
"Camera3"] = &I3;
374 #if defined VISP_HAVE_X11 376 #elif defined VISP_HAVE_GDI 378 #elif defined VISP_HAVE_OPENCV 380 #elif defined VISP_HAVE_D3D9 382 #elif defined VISP_HAVE_GTK 389 #if defined(VISP_HAVE_DISPLAY) 394 display1.
init(I1, 100, 100,
"Test tracking (Cam1)");
409 std::map<std::string, vpHomogeneousMatrix> mapOfCameraPoses;
410 std::map<std::string, vpCameraParameters> mapOfCameraParams;
413 #if defined(VISP_HAVE_PUGIXML) && USE_XML 415 std::map<std::string, std::string> mapOfConfigFiles;
416 mapOfConfigFiles[
"Camera1"] = configFile;
417 mapOfConfigFiles[
"Camera2"] = configFile;
418 mapOfConfigFiles[
"Camera3"] = configFile;
424 mapOfCameraParams[
"Camera1"] = cam;
425 mapOfCameraParams[
"Camera2"] = cam;
426 mapOfCameraParams[
"Camera3"] = cam;
436 std::map<std::string, vpMe> mapOfMe;
437 mapOfMe[
"Camera1"] = me;
438 mapOfMe[
"Camera2"] = me;
439 mapOfMe[
"Camera3"] = me;
441 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)) 450 std::map<std::string, vpKltOpencv> mapOfKlt;
451 mapOfKlt[
"Camera1"] = klt;
452 mapOfKlt[
"Camera2"] = klt;
453 mapOfKlt[
"Camera3"] = klt;
468 std::map<std::string, unsigned int> mapOfClippingFlags;
470 for (std::map<std::string, unsigned int>::iterator it = mapOfClippingFlags.begin(); it != mapOfClippingFlags.end();
502 if (opt_display && opt_click_allowed) {
519 if (opt_display && opt_click_allowed) {
520 std::map<std::string, std::string> mapOfInitFiles;
521 mapOfInitFiles[
"Camera1"] = initFile;
523 dynamic_cast<vpMbGenericTracker *
>(tracker)->initClick(mapOfImages, mapOfInitFiles,
true);
527 dynamic_cast<vpMbGenericTracker *
>(tracker)->display(mapOfImages, mapOfCameraPoses, mapOfCameraParams,
530 vpHomogeneousMatrix c1Moi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
531 std::map<std::string, vpHomogeneousMatrix> mapOfInitPoses;
532 mapOfInitPoses[
"Camera1"] = c1Moi;
534 dynamic_cast<vpMbGenericTracker *
>(tracker)->initFromPose(mapOfImages, mapOfInitPoses);
547 bool quit =
false, click =
false;
548 while (!reader.
end() && !quit) {
553 mapOfImages[
"Camera1"] = &I1;
554 mapOfImages[
"Camera2"] = &I2;
555 mapOfImages[
"Camera3"] = &I3;
563 std::stringstream ss;
570 std::cout <<
"----------Test reset tracker----------" << std::endl;
578 #if defined(VISP_HAVE_PUGIXML) && USE_XML 583 mapOfCameraParams[
"Camera1"] = cam;
584 mapOfCameraParams[
"Camera2"] = cam;
585 mapOfCameraParams[
"Camera3"] = cam;
595 mapOfMe[
"Camera1"] = me;
596 mapOfMe[
"Camera2"] = me;
597 mapOfMe[
"Camera3"] = me;
599 #if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100)) 608 mapOfKlt[
"Camera1"] = klt;
609 mapOfKlt[
"Camera2"] = klt;
610 mapOfKlt[
"Camera3"] = klt;
626 for (std::map<std::string, unsigned int>::iterator it = mapOfClippingFlags.begin();
627 it != mapOfClippingFlags.end(); ++it) {
642 dynamic_cast<vpMbGenericTracker *
>(tracker)->initFromPose(mapOfImages, mapOfCameraPoses);
648 c1Moi.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
649 std::map<std::string, vpHomogeneousMatrix> mapOfSetPoses;
650 mapOfSetPoses[
"Camera1"] = c1Moi;
652 std::cout <<
"Test set pose" << std::endl;
664 std::map<std::string, const vpImage<unsigned char> *> mapOfSubImages;
665 mapOfSubImages[
"Camera1"] = &I1;
666 mapOfSubImages[
"Camera2"] = &I2;
668 dynamic_cast<vpMbGenericTracker *
>(tracker)->display(mapOfSubImages, mapOfCameraPoses, mapOfCameraParams,
671 dynamic_cast<vpMbGenericTracker *
>(tracker)->display(mapOfImages, mapOfCameraPoses, mapOfCameraParams,
681 if (opt_click_allowed && opt_display) {
700 if (computeCovariance) {
701 std::cout <<
"Covariance matrix: \n" << tracker->
getCovarianceMatrix() << std::endl << std::endl;
704 if (projectionError) {
705 std::cout <<
"Projection error: " << tracker->
getProjectionError() << std::endl << std::endl;
715 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
716 std::cout <<
"\nFinal poses, c1Mo:\n" 717 << mapOfCameraPoses[
"Camera1"] <<
"\nc2Mo:\n" 718 << mapOfCameraPoses[
"Camera2"] <<
"\nc3Mo:\n" 719 << mapOfCameraPoses[
"Camera3"] << std::endl;
721 if (opt_click_allowed && !quit) {
729 #if defined(VISP_HAVE_COIN3D) && (COIN_MAJOR_VERSION >= 2) 738 std::cout <<
"Catch an exception: " << e << std::endl;
747 std::cout <<
"visp_mbt, visp_gui modules and OpenCV are required to run " virtual void setCovarianceComputation(const bool &flag)
void setMaxFeatures(int maxCount)
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
void setHarrisFreeParameter(double harris_k)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
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)
Display for windows using GDI (available on any windows 32 platform).
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 void setOgreShowConfigDialog(bool showConfigDialog)
virtual double getProjectionError() const
void setMinDistance(double minDistance)
error that can be emited by ViSP classes.
Real-time 6D object pose tracking using its CAD model.
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 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)
void setPyramidLevels(int pyrMaxLevel)
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 setWindowSize(int winSize)
virtual void setAngleAppear(const double &a)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static double rad(double deg)
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
void init(vpImage< unsigned char > &I, int winx=-1, int winy=-1, const std::string &title="")
void setMu2(const double &mu_2)
long getFrameIndex() const
virtual void setOgreVisibilityTest(const bool &v)
void setLastFrameIndex(const long last_frame)
unsigned int getHeight() const
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 setThreshold(const double &t)
void setFileName(const std::string &filename)
virtual void setScanLineVisibilityTest(const bool &v)
void setRange(const unsigned int &r)
virtual void setFarClippingDistance(const double &dist)
unsigned int getWidth() const
void setBlockSize(int blockSize)
virtual void setDisplayFeatures(bool displayF)
virtual void setProjectionErrorComputation(const bool &flag)
virtual void setNearClippingDistance(const double &dist)