44 #include <visp3/core/vpConfig.h>
46 #if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) && \
47 (defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
49 #include <visp3/core/vpDebug.h>
50 #include <visp3/core/vpHomogeneousMatrix.h>
51 #include <visp3/core/vpIoTools.h>
52 #include <visp3/core/vpMath.h>
53 #include <visp3/gui/vpDisplayD3D.h>
54 #include <visp3/gui/vpDisplayGDI.h>
55 #include <visp3/gui/vpDisplayGTK.h>
56 #include <visp3/gui/vpDisplayOpenCV.h>
57 #include <visp3/gui/vpDisplayX.h>
58 #include <visp3/io/vpImageIo.h>
59 #include <visp3/io/vpParseArgv.h>
60 #include <visp3/io/vpVideoReader.h>
61 #include <visp3/mbt/vpMbEdgeTracker.h>
63 #define GETOPTARGS "x:m:i:n:de:chtfColwvp"
65 void usage(
const char *name,
const char *badparam)
67 #if VISP_HAVE_DATASET_VERSION >= 0x030600
68 std::string ext(
"png");
70 std::string ext(
"pgm");
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",
83 -i <input image path> \n\
84 Set image input path.\n\
85 From this path read images \n\
86 \"mbt/cube/image%%04d.%s\". 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 behaviour 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. \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 thatallows 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 Print the help.\n\n",
150 fprintf(stdout,
"\nERROR: Bad parameter [%s]\n", badparam);
153 bool getOptions(
int argc,
const char **argv, std::string &ipath, std::string &configFile, std::string &modelFile,
154 std::string &initFile,
long &lastFrame,
bool &displayFeatures,
bool &click_allowed,
bool &display,
155 bool &cao3DModel,
bool &trackCylinder,
bool &useOgre,
bool &showOgreConfigDialog,
bool &useScanline,
156 bool &computeCovariance,
bool &projectionError)
164 lastFrame = atol(optarg_);
170 configFile = optarg_;
179 displayFeatures =
false;
185 click_allowed =
false;
191 trackCylinder =
false;
200 showOgreConfigDialog =
true;
203 computeCovariance =
true;
206 projectionError =
true;
209 usage(argv[0],
nullptr);
214 usage(argv[0], optarg_);
220 if ((c == 1) || (c == -1)) {
222 usage(argv[0],
nullptr);
223 std::cerr <<
"ERROR: " << std::endl;
224 std::cerr <<
" Bad argument " << optarg_ << std::endl << std::endl;
231 int main(
int argc,
const char **argv)
234 std::string env_ipath;
235 std::string opt_ipath;
237 std::string opt_configFile;
238 std::string configFile;
239 std::string opt_modelFile;
240 std::string modelFile;
241 std::string opt_initFile;
242 std::string initFile;
243 long opt_lastFrame = -1;
244 bool displayFeatures =
true;
245 bool opt_click_allowed =
true;
246 bool opt_display =
true;
247 bool cao3DModel =
false;
248 bool trackCylinder =
true;
249 bool useOgre =
false;
250 bool showOgreConfigDialog =
false;
251 bool useScanline =
false;
252 bool computeCovariance =
false;
253 bool projectionError =
false;
256 #if VISP_HAVE_DATASET_VERSION >= 0x030600
257 std::string ext(
"png");
259 std::string ext(
"pgm");
267 if (!env_ipath.empty())
271 if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_modelFile, opt_initFile, opt_lastFrame, displayFeatures,
272 opt_click_allowed, opt_display, cao3DModel, trackCylinder, useOgre, showOgreConfigDialog,
273 useScanline, computeCovariance, projectionError)) {
278 if (opt_ipath.empty() && env_ipath.empty()) {
279 usage(argv[0],
nullptr);
280 std::cerr << std::endl <<
"ERROR:" << std::endl;
281 std::cerr <<
" Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
282 <<
" environment variable to specify the location of the " << std::endl
283 <<
" image path where test images are located." << std::endl
290 if (!opt_ipath.empty())
295 if (!opt_configFile.empty())
296 configFile = opt_configFile;
297 else if (!opt_ipath.empty())
302 if (!opt_modelFile.empty()) {
303 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";
313 modelFileCao =
"mbt/cube.cao";
314 modelFileWrl =
"mbt/cube.wrl";
317 if (!opt_ipath.empty()) {
322 #ifdef VISP_HAVE_COIN3D
325 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
335 #ifdef VISP_HAVE_COIN3D
338 std::cerr <<
"Coin is not detected in ViSP. Use the .cao model instead." << std::endl;
345 if (!opt_initFile.empty())
346 initFile = opt_initFile;
347 else if (!opt_ipath.empty())
360 std::cout <<
"Cannot open sequence: " << ipath << std::endl;
370 #if defined(VISP_HAVE_X11)
372 #elif defined(VISP_HAVE_GDI)
374 #elif defined(HAVE_OPENCV_HIGHGUI)
376 #elif defined(VISP_HAVE_D3D9)
378 #elif defined(VISP_HAVE_GTK)
384 #if defined(VISP_HAVE_DISPLAY)
385 display.init(I, 100, 100,
"Test tracking");
396 #if defined(VISP_HAVE_PUGIXML)
448 if (opt_display && opt_click_allowed) {
465 if (opt_display && opt_click_allowed) {
472 vpHomogeneousMatrix cMoi(0.02044769891, 0.1101505452, 0.5078963719, 2.063603907, 1.110231561, -0.4392789872);
483 while (!reader.
end()) {
497 #if defined(VISP_HAVE_PUGIXML)
536 cMo.
buildFrom(0.0439540832, 0.0845870108, 0.5477322481, 2.179498458, 0.8611798108, -0.3491961946);
564 if (opt_click_allowed) {
572 if (computeCovariance) {
573 std::cout <<
"Covariance matrix: \n" << tracker.
getCovarianceMatrix() << std::endl << std::endl;
576 if (projectionError) {
577 std::cout <<
"Projection error: " << tracker.
getProjectionError() << std::endl << std::endl;
584 std::cout <<
"Reached last frame: " << reader.
getFrameIndex() << std::endl;
586 if (opt_click_allowed && !quit) {
594 std::cout <<
"Catch an exception: " << e << std::endl;
599 #elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
602 std::cout <<
"Cannot run this example: visp_mbt, visp_gui modules are required." << std::endl;
608 std::cout <<
"Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
static const vpColor darkRed
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Display for windows using GDI (available on any windows 32 platform).
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
The vpDisplayOpenCV allows to display image using the OpenCV library. Thus to enable this class OpenC...
Use the X11 console to display images on unix-like OS. Thus to enable this class X11 should be instal...
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
static void display(const vpImage< unsigned char > &I)
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), const std::string &frameName="", const vpColor &textColor=vpColor::black, const vpImagePoint &textOffset=vpImagePoint(15, 15))
static void flush(const vpImage< unsigned char > &I)
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emitted by ViSP classes.
Implementation of an homogeneous matrix and operations on such kind of matrices.
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
Make the complete tracking of an object by using its CAD model.
virtual void setNearClippingDistance(const double &dist) vp_override
virtual void setOgreVisibilityTest(const bool &v) vp_override
virtual void setFarClippingDistance(const double &dist) vp_override
void resetTracker() vp_override
virtual void loadConfigFile(const std::string &configFile, bool verbose=true) vp_override
virtual void track(const vpImage< unsigned char > &I) vp_override
virtual void setClipping(const unsigned int &flags) vp_override
virtual void setScanLineVisibilityTest(const bool &v) vp_override
virtual void setCameraParameters(const vpCameraParameters &cam) vp_override
virtual void display(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cMo, const vpCameraParameters &cam, const vpColor &col, unsigned int thickness=1, bool displayFullModel=false) vp_override
void setMovingEdge(const vpMe &me)
virtual void setPose(const vpImage< unsigned char > &I, const vpHomogeneousMatrix &cdMo) vp_override
virtual void setOgreShowConfigDialog(bool showConfigDialog)
virtual void getCameraParameters(vpCameraParameters &cam) const
virtual void setDisplayFeatures(bool displayF)
virtual void getPose(vpHomogeneousMatrix &cMo) const
virtual void setCovarianceComputation(const bool &flag)
virtual void initClick(const vpImage< unsigned char > &I, const std::string &initFile, bool displayHelp=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual vpMatrix getCovarianceMatrix() const
virtual double getProjectionError() const
virtual void setProjectionErrorComputation(const bool &flag)
virtual void initFromPose(const vpImage< unsigned char > &I, const std::string &initFile)
virtual void loadModel(const std::string &modelFile, bool verbose=false, const vpHomogeneousMatrix &T=vpHomogeneousMatrix())
virtual unsigned int getClipping() const
void setMu1(const double &mu_1)
void setRange(const unsigned int &range)
void setLikelihoodThresholdType(const vpLikelihoodThresholdType likelihood_threshold_type)
void setMaskNumber(const unsigned int &mask_number)
void setThreshold(const double &threshold)
void setSampleStep(const double &sample_step)
void setMaskSize(const unsigned int &mask_size)
void setMu2(const double &mu_2)
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Class that enables to manipulate easily a video file or a sequence of images. As it inherits from the...
void acquire(vpImage< vpRGBa > &I)
void setLastFrameIndex(const long last_frame)
void open(vpImage< vpRGBa > &I)
void setFileName(const std::string &filename)
long getFirstFrameIndex()
long getFrameIndex() const
void display(vpImage< unsigned char > &I, const std::string &title)
Display a gray-scale image.