Visual Servoing Platform  version 3.5.1 under development (2022-10-03)

Example of tracking with vpGenericTracker on Castel.

* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2019 by Inria. All rights reserved.
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
* See for more information.
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* If you have questions regarding the use of this file, please contact
* Inria at
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* Description:
* Example of tracking with vpGenericTracker on Castel.
#include <cstdlib>
#include <iostream>
#include <visp3/core/vpConfig.h>
#if (defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY)) && \
(defined(VISP_HAVE_LAPACK) || defined(VISP_HAVE_EIGEN3) || defined(VISP_HAVE_OPENCV))
#include <visp3/core/vpDebug.h>
#include <visp3/core/vpHomogeneousMatrix.h>
#include <visp3/core/vpIoTools.h>
#include <visp3/core/vpMath.h>
#include <visp3/gui/vpDisplayD3D.h>
#include <visp3/gui/vpDisplayGDI.h>
#include <visp3/gui/vpDisplayGTK.h>
#include <visp3/gui/vpDisplayOpenCV.h>
#include <visp3/gui/vpDisplayX.h>
#include <visp3/io/vpImageIo.h>
#include <visp3/io/vpParseArgv.h>
#include <visp3/io/vpVideoReader.h>
#include <visp3/mbt/vpMbGenericTracker.h>
#define GETOPTARGS "x:X:m:M:i:n:dchfolwvpt:T:e:"
#define USE_XML 1
#define USE_SMALL_DATASET 1 // small depth dataset in ViSP-images
void usage(const char *name, const char *badparam)
fprintf(stdout, "\n\
Example of tracking with vpGenericTracker.\n\
%s [-i <test image path>] [-x <config file>] [-X <config file depth>]\n\
[-m <model name>] [-M <model name depth>] [-n <initialisation file base name>]\n\
[-f] [-c] [-d] [-h] [-o] [-w] [-l] [-v] [-p]\n\
[-t <tracker type>] [-T <tracker type>] [-e <last frame index>]\n",
fprintf(stdout, "\n\
-i <input image path> \n\
Set image input path.\n\
These images come from ViSP-images-x.y.z.tar.gz available \n\
on the ViSP website.\n\
Setting the VISP_INPUT_IMAGE_PATH environment\n\
variable produces the same behavior than using\n\
this option.\n\
-x <config file> \n\
Set the config file (the xml file) to use.\n\
The config file is used to specify the parameters of the tracker.\n\
-X <config file> \n\
Set the config file (the xml file) to use for the depth sensor.\n\
The config file is used to specify the parameters of the tracker.\n\
-m <model name> \n\
Specify the name of the file of the model.\n\
The model can either be a vrml model (.wrl) or a .cao file.\n\
-M <model name> \n\
Specify the name of the file of the model for the depth sensor.\n\
The model can either be a vrml model (.wrl) or a .cao file.\n\
-n <initialisation file base name> \n\
Base name of the initialisation file. The file will be 'base_name'.init .\n\
This base name is also used for the optional picture specifying where to \n\
click (a .ppm picture).\n\
-f \n\
Turn off the display of the the moving edges and Klt points. \n\
-d \n\
Turn off the display.\n\
Disable the mouse click. Useful to automate the \n\
execution of this program without human intervention.\n\
Use Ogre3D for visibility tests\n\
When Ogre3D is enable [-o] show Ogre3D configuration dialog that allows to set the renderer.\n\
Use the scanline for visibility tests.\n\
Compute covariance matrix.\n\
Compute gradient projection error.\n\
-t <tracker type>\n\
Set tracker type (<1 (Edge)>, <2 (KLT)>, <3 (both)>) for color sensor.\n\
-T <tracker type>\n\
Set tracker type (<4 (Depth normal)>, <8 (Depth dense)>, <12 (both)>) for depth sensor.\n\
-e <last frame index>\n\
Specify the index of the last frame. Once reached, the tracking is stopped.\n\
-h \n\
Print the help.\n\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
bool getOptions(int argc, const char **argv, std::string &ipath, std::string &configFile, std::string &configFile_depth,
std::string &modelFile, std::string &modelFile_depth, std::string &initFile, bool &displayFeatures,
bool &click_allowed, bool &display, bool &useOgre, bool &showOgreConfigDialog, bool &useScanline,
bool &computeCovariance, bool &projectionError, int &trackerType, int &tracker_type_depth,
int &lastFrame)
const char *optarg_;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg_)) > 1) {
switch (c) {
case 'i':
ipath = optarg_;
case 'x':
configFile = optarg_;
case 'X':
configFile_depth = optarg_;
case 'm':
modelFile = optarg_;
case 'M':
modelFile_depth = optarg_;
case 'n':
initFile = optarg_;
case 'f':
displayFeatures = false;
case 'c':
click_allowed = false;
case 'd':
display = false;
case 'o':
useOgre = true;
case 'l':
useScanline = true;
case 'w':
showOgreConfigDialog = true;
case 'v':
computeCovariance = true;
case 'p':
projectionError = true;
case 't':
trackerType = atoi(optarg_);
case 'T':
tracker_type_depth = atoi(optarg_);
case 'e':
lastFrame = atoi(optarg_);
case 'h':
usage(argv[0], NULL);
return false;
usage(argv[0], optarg_);
return false;
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg_ << std::endl << std::endl;
return false;
return true;
struct rs_intrinsics {
float ppx;
float ppy;
float fx;
float fy;
float coeffs[5];
void rs_deproject_pixel_to_point(float point[3], const rs_intrinsics &intrin, const float pixel[2], float depth)
float x = (pixel[0] - intrin.ppx) / intrin.fx;
float y = (pixel[1] - intrin.ppy) / intrin.fy;
float r2 = x * x + y * y;
float f = 1 + intrin.coeffs[0] * r2 + intrin.coeffs[1] * r2 * r2 + intrin.coeffs[4] * r2 * r2 * r2;
float ux = x * f + 2 * intrin.coeffs[2] * x * y + intrin.coeffs[3] * (r2 + 2 * x * x);
float uy = y * f + 2 * intrin.coeffs[3] * x * y + intrin.coeffs[2] * (r2 + 2 * y * y);
x = ux;
y = uy;
point[0] = depth * x;
point[1] = depth * y;
point[2] = depth;
bool read_data(unsigned int cpt, const std::string &input_directory, vpImage<unsigned char> &I,
vpImage<uint16_t> &I_depth_raw, std::vector<vpColVector> &pointcloud, unsigned int &pointcloud_width,
unsigned int &pointcloud_height)
char buffer[256];
// Read image
std::stringstream ss;
ss << input_directory << "/image_%04d.pgm";
sprintf(buffer, ss.str().c_str(), cpt);
std::string filename_image = buffer;
if (!vpIoTools::checkFilename(filename_image)) {
std::cerr << "Cannot read: " << filename_image << std::endl;
return false;
vpImageIo::read(I, filename_image);
// Read raw depth
ss << input_directory << "/depth_image_%04d.bin";
sprintf(buffer, ss.str().c_str(), cpt);
std::string filename_depth = buffer;
std::ifstream file_depth(filename_depth.c_str(), std::ios::in | std::ios::binary);
if (!file_depth.is_open()) {
return false;
unsigned int height = 0, width = 0;
vpIoTools::readBinaryValueLE(file_depth, height);
vpIoTools::readBinaryValueLE(file_depth, width);
I_depth_raw.resize(height, width);
uint16_t depth_value = 0;
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
vpIoTools::readBinaryValueLE(file_depth, depth_value);
I_depth_raw[i][j] = depth_value;
// Transform pointcloud
pointcloud_width = width;
pointcloud_height = height;
pointcloud.resize((size_t)width * height);
// Only for Creative SR300
const float depth_scale = 0.000124986647f;
rs_intrinsics depth_intrinsic;
depth_intrinsic.ppx = 311.484558f;
depth_intrinsic.ppy = 246.283234f;
depth_intrinsic.fx = 476.053619f;
depth_intrinsic.fy = 476.053497f;
depth_intrinsic.coeffs[0] = 0.165056542f;
depth_intrinsic.coeffs[1] = -0.0508309528f;
depth_intrinsic.coeffs[2] = 0.00435937941f;
depth_intrinsic.coeffs[3] = 0.00541406544f;
depth_intrinsic.coeffs[4] = 0.250085592f;
for (unsigned int i = 0; i < height; i++) {
for (unsigned int j = 0; j < width; j++) {
float scaled_depth = I_depth_raw[i][j] * depth_scale;
float point[3];
float pixel[2] = {(float)j, (float)i};
rs_deproject_pixel_to_point(point, depth_intrinsic, pixel, scaled_depth);
vpColVector data_3D(3);
data_3D[0] = point[0];
data_3D[1] = point[1];
data_3D[2] = point[2];
pointcloud[(size_t)(i * width + j)] = data_3D;
return true;
void loadConfiguration(vpMbTracker *const tracker,
const std::string &
const std::string &
// From the xml file
dynamic_cast<vpMbGenericTracker *>(tracker)->loadConfigFile(configFile, configFile_depth);
// Edge
vpMe me;
dynamic_cast<vpMbGenericTracker *>(tracker)->setMovingEdge(me);
// Klt
#if defined(VISP_HAVE_MODULE_KLT) && (defined(VISP_HAVE_OPENCV) && (VISP_HAVE_OPENCV_VERSION >= 0x020100))
dynamic_cast<vpMbGenericTracker *>(tracker)->setKltOpencv(klt);
dynamic_cast<vpMbGenericTracker *>(tracker)->setKltMaskBorder(5);
// Depth
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalFeatureEstimationMethod(
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationMethod(2);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacMaxIter(200);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalPclPlaneEstimationRansacThreshold(0.001);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthNormalSamplingStep(2, 2);
dynamic_cast<vpMbGenericTracker *>(tracker)->setDepthDenseSamplingStep(4, 4);
vpCameraParameters cam1, cam2;
cam1.initPersProjWithoutDistortion(615.1674804688, 615.1675415039, 312.1889953613, 243.4373779297);
cam2.initPersProjWithoutDistortion(476.0536193848, 476.0534973145, 311.4845581055, 246.2832336426);
dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
// Specify the clipping to
// tracker->setClipping(tracker->getClipping() | vpMbtPolygon::LEFT_CLIPPING
// | vpMbtPolygon::RIGHT_CLIPPING | vpMbtPolygon::UP_CLIPPING |
// vpMbtPolygon::DOWN_CLIPPING); // Equivalent to FOV_CLIPPING
} // namespace
int main(int argc, const char **argv)
try {
std::string env_ipath;
std::string opt_ipath;
std::string ipath;
std::string opt_configFile;
std::string opt_configFile_depth;
std::string opt_modelFile;
std::string opt_modelFile_depth;
std::string opt_initFile;
std::string initFile;
bool displayFeatures = true;
bool opt_click_allowed = true;
bool opt_display = true;
bool useOgre = false;
bool showOgreConfigDialog = false;
bool useScanline = false;
bool computeCovariance = false;
bool projectionError = false;
int trackerType_image = vpMbGenericTracker::EDGE_TRACKER;
int trackerType_depth = vpMbGenericTracker::DEPTH_DENSE_TRACKER;
#if defined(__mips__) || defined(__mips) || defined(mips) || defined(__MIPS__)
// To avoid Debian test timeout
int opt_lastFrame = 5;
int opt_lastFrame = -1;
// Get the visp-images-data package path or VISP_INPUT_IMAGE_PATH
// environment variable value
// Set the default input path
if (!env_ipath.empty())
ipath = env_ipath;
// Read the command line options
if (!getOptions(argc, argv, opt_ipath, opt_configFile, opt_configFile_depth, opt_modelFile, opt_modelFile_depth,
opt_initFile, displayFeatures, opt_click_allowed, opt_display, useOgre, showOgreConfigDialog,
useScanline, computeCovariance, projectionError, trackerType_image, trackerType_depth,
opt_lastFrame)) {
#if !defined(VISP_HAVE_MODULE_KLT) || (!defined(VISP_HAVE_OPENCV) || (VISP_HAVE_OPENCV_VERSION < 0x020100))
if (trackerType_image == /*vpMbGenericTracker::KLT_TRACKER*/ 2) {
std::cout << "KLT only features cannot be used: ViSP is not built with "
"KLT module or OpenCV is not available."
<< std::endl;
// Test if an input path is set
if (opt_ipath.empty() && env_ipath.empty()) {
usage(argv[0], NULL);
std::cerr << std::endl << "ERROR:" << std::endl;
std::cerr << " Use -i <visp image path> option or set VISP_INPUT_IMAGE_PATH " << std::endl
<< " environment variable to specify the location of the " << std::endl
<< " image path where test images are located." << std::endl
<< std::endl;
// Get the option values
ipath = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/castel");
std::string dir_path = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth");
if (!vpIoTools::checkDirectory(dir_path)) {
std::cerr << "ViSP-images does not contain the folder: " << dir_path << "!" << std::endl;
std::string configFile, configFile_depth;
if (!opt_configFile.empty())
configFile = opt_configFile;
configFile =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.xml");
if (!opt_configFile_depth.empty())
configFile_depth = opt_configFile_depth;
configFile_depth =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau_depth.xml");
std::string modelFile, modelFile_depth;
if (!opt_modelFile.empty())
modelFile = opt_modelFile;
else {
modelFile =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau_gantry.wrl");
modelFile = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.cao");
if (!opt_modelFile_depth.empty())
modelFile_depth = opt_modelFile_depth;
modelFile_depth =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.cao");
std::string vrml_ext = ".wrl";
bool use_vrml =
( - vrml_ext.length(), vrml_ext.length(), vrml_ext) == 0) ||
( - vrml_ext.length(), vrml_ext.length(), vrml_ext) == 0);
if (use_vrml) {
std::cout << "use_vrml: " << use_vrml << std::endl;
std::cerr << "Error: vrml model file is only supported if ViSP is "
"build with Coin3D 3rd party"
<< std::endl;
if (!opt_initFile.empty())
initFile = opt_initFile;
initFile = vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/chateau.init");
vpImage<uint16_t> I_depth_raw;
std::vector<vpColVector> pointcloud;
unsigned int pointcloud_width, pointcloud_height;
if (!read_data(0, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height)) {
std::cerr << "Cannot open sequence: " << ipath << std::endl;
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
// initialise a display
#if defined VISP_HAVE_X11
vpDisplayX display1, display2;
#elif defined VISP_HAVE_GDI
vpDisplayGDI display1, display2;
#elif defined VISP_HAVE_OPENCV
vpDisplayOpenCV display1, display2;
#elif defined VISP_HAVE_D3D9
vpDisplayD3D display1, display2;
#elif defined VISP_HAVE_GTK
vpDisplayGTK display1, display2;
opt_display = false;
if (opt_display) {
#if defined(VISP_HAVE_DISPLAY)
display1.init(I, 100, 100, "Test tracking (Left)");
display2.init(I_depth, (int)(I.getWidth() / vpDisplay::getDownScalingFactor(I)) + 110, 100,
"Test tracking (Right)");
std::vector<int> trackerTypes(2);
trackerTypes[0] = trackerType_image;
trackerTypes[1] = trackerType_depth;
// Object pointer to check that inheritance is ok
vpMbTracker *tracker = new vpMbGenericTracker(trackerTypes);
vpHomogeneousMatrix c1Mo, c2Mo;
vpCameraParameters cam1, cam2;
loadConfiguration(tracker, configFile, configFile_depth);
vpHomogeneousMatrix depth_M_color;
std::string depth_M_color_filename =
vpIoTools::createFilePath(!opt_ipath.empty() ? opt_ipath : env_ipath, "mbt-depth/castel/depth_M_color.txt");
std::ifstream depth_M_color_file(depth_M_color_filename.c_str());
std::map<std::string, vpHomogeneousMatrix> mapOfCameraTransformationMatrices;
mapOfCameraTransformationMatrices["Camera2"] = depth_M_color;
dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraTransformationMatrix(mapOfCameraTransformationMatrices);
// Display the moving edges, and the Klt points
// Tells if the tracker has to use Ogre3D for visibility tests
if (useOgre)
// Tells if the tracker has to use the scanline visibility tests
// Tells if the tracker has to compute the covariance matrix
// Tells if the tracker has to compute the projection error
// Retrieve the camera parameters from the tracker
dynamic_cast<vpMbGenericTracker *>(tracker)->getCameraParameters(cam1, cam2);
// Loop to position the cube
if (opt_display && opt_click_allowed) {
while (!vpDisplay::getClick(I, false)) {
vpDisplay::displayText(I, 15, 10, "click after positioning the object", vpColor::red);
// Load the 3D model (either a vrml file or a .cao file)
dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile, modelFile_depth);
if (opt_display && opt_click_allowed) {
std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
mapOfImages["Camera1"] = &I;
mapOfImages["Camera2"] = &I_depth;
std::map<std::string, std::string> mapOfInitFiles;
mapOfInitFiles["Camera1"] = initFile;
// Initialise the tracker by clicking on the image
dynamic_cast<vpMbGenericTracker *>(tracker)->initClick(mapOfImages, mapOfInitFiles, true);
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
// display the 3D model at the given pose
dynamic_cast<vpMbGenericTracker *>(tracker)->display(I, I_depth, c1Mo, c2Mo, cam1, cam2, vpColor::red);
} else {
vpHomogeneousMatrix c1Moi(0.06846423368, 0.09062570884, 0.3401096693, -2.671882598, 0.1174275908, -0.6011935263);
vpHomogeneousMatrix c2Moi(0.04431452054, 0.09294637757, 0.3357760654, -2.677922443, 0.121297639, -0.6028463357);
dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I, I_depth, c1Moi, c2Moi);
// track the model
std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
mapOfImages["Camera1"] = &I;
std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
mapOfPointclouds["Camera2"] = &pointcloud;
std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
mapOfWidths["Camera2"] = pointcloud_width;
mapOfHeights["Camera2"] = pointcloud_height;
dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
if (opt_display) {
bool quit = false, click = false;
unsigned int frame_index = 0;
std::vector<double> time_vec;
while (read_data(frame_index, ipath, I, I_depth_raw, pointcloud, pointcloud_width, pointcloud_height) && !quit &&
(opt_lastFrame > 0 ? (int)frame_index <= opt_lastFrame : true)) {
vpImageConvert::createDepthHistogram(I_depth_raw, I_depth);
if (opt_display) {
std::stringstream ss;
ss << "Num frame: " << frame_index;
vpDisplay::displayText(I, 40, 20, ss.str(), vpColor::red);
// Test reset the tracker
if (frame_index == 10) {
std::cout << "----------Test reset tracker----------" << std::endl;
if (opt_display) {
loadConfiguration(tracker, configFile, configFile_depth);
dynamic_cast<vpMbGenericTracker *>(tracker)->loadModel(modelFile, modelFile_depth);
dynamic_cast<vpMbGenericTracker *>(tracker)->setCameraParameters(cam1, cam2);
dynamic_cast<vpMbGenericTracker *>(tracker)->initFromPose(I, I_depth, c1Mo, c2Mo);
// Test to set an initial pose
if (frame_index == 20) {
c1Mo.buildFrom(0.07734634051, 0.08993639906, 0.342344402, -2.708409543, 0.0669276477, -0.3798958303);
c2Mo.buildFrom(0.05319520317, 0.09223511976, 0.3380095812, -2.71438192, 0.07141055397, -0.3810081638);
if (frame_index == 50) {
c1Mo.buildFrom(0.09280663035, 0.09277655672, 0.330415149, -2.724431817, 0.0293932671, 0.02027966377);
c2Mo.buildFrom(0.06865933578, 0.09494713501, 0.3260555142, -2.730027451, 0.03498390135, 0.01989831338);
std::cout << "Test set pose" << std::endl;
dynamic_cast<vpMbGenericTracker *>(tracker)->setPose(I, I_depth, c1Mo, c2Mo);
// track the object: stop tracking from frame 15 to 20
if (frame_index < 15 || frame_index >= 20) {
// track the object: stop tracking from frame 30 to 50
if (frame_index < 30 || frame_index >= 50) {
std::map<std::string, const vpImage<unsigned char> *> mapOfImages;
mapOfImages["Camera1"] = &I;
std::map<std::string, const std::vector<vpColVector> *> mapOfPointclouds;
mapOfPointclouds["Camera2"] = &pointcloud;
std::map<std::string, unsigned int> mapOfWidths, mapOfHeights;
mapOfWidths["Camera2"] = pointcloud_width;
mapOfHeights["Camera2"] = pointcloud_height;
double t = vpTime::measureTimeMs();
dynamic_cast<vpMbGenericTracker *>(tracker)->track(mapOfImages, mapOfPointclouds, mapOfWidths, mapOfHeights);
dynamic_cast<vpMbGenericTracker *>(tracker)->getPose(c1Mo, c2Mo);
if (opt_display) {
// display the 3D model
dynamic_cast<vpMbGenericTracker *>(tracker)->display(I, I_depth, c1Mo, c2Mo, cam1, cam2, vpColor::darkRed);
// display the frame
vpDisplay::displayFrame(I, c1Mo, cam1, 0.05);
vpDisplay::displayFrame(I_depth, c2Mo, cam2, 0.05);
// computation time
std::stringstream ss;
ss << "Computation time: " << t << " ms";
vpDisplay::displayText(I, 60, 20, ss.str(), vpColor::red);
// nb features
ss << "nb features: " << tracker->getError().getRows();
vpDisplay::displayText(I_depth, 80, 20, ss.str(), vpColor::red);
std::stringstream ss;
ss << "Features: edges " << dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesEdge() << ", klt "
<< dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesKlt() << ", depth "
<< dynamic_cast<vpMbGenericTracker *>(tracker)->getNbFeaturesDepthDense();
vpDisplay::displayText(I, I.getHeight() - 30, 20, ss.str(), vpColor::red);
if (opt_click_allowed && opt_display) {
vpDisplay::displayText(I, 10, 10, "Click to quit", vpColor::red);
if (vpDisplay::getClick(I, button, click)) {
switch (button) {
quit = !click;
click = !click;
if (computeCovariance) {
std::cout << "Covariance matrix: \n" << tracker->getCovarianceMatrix() << std::endl << std::endl;
if (projectionError) {
std::cout << "Projection error: " << tracker->getProjectionError() << std::endl << std::endl;
if (opt_display) {
std::cout << "\nFinal poses, c1Mo:\n" << c1Mo << "\nc2Mo:\n" << c2Mo << std::endl;
std::cout << "\nComputation time, Mean: " << vpMath::getMean(time_vec)
<< " ms ; Median: " << vpMath::getMedian(time_vec) << " ms ; Std: " << vpMath::getStdev(time_vec) << " ms"
<< std::endl;
if (opt_click_allowed && !quit) {
delete tracker;
tracker = NULL;
} catch (const vpException &e) {
std::cout << "Catch an exception: " << e << std::endl;
#elif !(defined(VISP_HAVE_MODULE_MBT) && defined(VISP_HAVE_DISPLAY))
int main()
std::cout << "Cannot run this example: visp_mbt, visp_gui modules are required." << std::endl;
int main()
std::cout << "Cannot run this example: install Lapack, Eigen3 or OpenCV" << std::endl;
unsigned int getRows() const
Definition: vpArray2D.h:291
Generic class defining intrinsic camera parameters.
void initPersProjWithoutDistortion(double px, double py, double u0, double v0)
Implementation of column vector and the associated operations.
Definition: vpColVector.h:131
static const vpColor red
Definition: vpColor.h:217
static const vpColor darkRed
Definition: vpColor.h:218
Display for windows using Direct3D 3rd party. Thus to enable this class Direct3D should be installed....
Definition: vpDisplayD3D.h:107
Display for windows using GDI (available on any windows 32 platform).
Definition: vpDisplayGDI.h:129
The vpDisplayGTK allows to display image using the GTK 3rd party library. Thus to enable this class G...
Definition: vpDisplayGTK.h:135
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...
Definition: vpDisplayX.h:135
void init(vpImage< unsigned char > &I, int win_x=-1, int win_y=-1, const std::string &win_title="")
static bool getClick(const vpImage< unsigned char > &I, bool blocking=true)
virtual void setDownScalingFactor(unsigned int scale)
Definition: vpDisplay.cpp:231
static void display(const vpImage< unsigned char > &I)
static void flush(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))
Definition: vpDisplay.h:183
unsigned int getDownScalingFactor()
Definition: vpDisplay.h:235
static void displayText(const vpImage< unsigned char > &I, const vpImagePoint &ip, const std::string &s, const vpColor &color)
error that can be emited by ViSP classes.
Definition: vpException.h:72
Implementation of an homogeneous matrix and operations on such kind of matrices.
void load(std::ifstream &f)
void buildFrom(const vpTranslationVector &t, const vpRotationMatrix &R)
static void createDepthHistogram(const vpImage< uint16_t > &src_depth, vpImage< vpRGBa > &dest_rgba)
static void read(vpImage< unsigned char > &I, const std::string &filename, int backend=IO_DEFAULT_BACKEND)
Definition: vpImageIo.cpp:148
unsigned int getWidth() const
Definition: vpImage.h:246
void resize(unsigned int h, unsigned int w)
resize the image : Image initialization
Definition: vpImage.h:799
unsigned int getHeight() const
Definition: vpImage.h:188
static std::string getViSPImagesDataPath()
Definition: vpIoTools.cpp:1365
static bool checkFilename(const std::string &filename)
Definition: vpIoTools.cpp:797
static void readBinaryValueLE(std::ifstream &file, int16_t &short_value)
Definition: vpIoTools.cpp:2006
static bool checkDirectory(const std::string &dirname)
Definition: vpIoTools.cpp:418
static std::string createFilePath(const std::string &parent, const std::string &child)
Definition: vpIoTools.cpp:1683
Wrapper for the KLT (Kanade-Lucas-Tomasi) feature tracker implemented in OpenCV. Thus to enable this ...
Definition: vpKltOpencv.h:79
void setBlockSize(int blockSize)
void setQuality(double qualityLevel)
void setHarrisFreeParameter(double harris_k)
void setMaxFeatures(int maxCount)
void setMinDistance(double minDistance)
void setWindowSize(int winSize)
void setPyramidLevels(int pyrMaxLevel)
static double rad(double deg)
Definition: vpMath.h:117
static double getMedian(const std::vector< double > &v)
Definition: vpMath.cpp:262
static double getStdev(const std::vector< double > &v, bool useBesselCorrection=false)
Definition: vpMath.cpp:292
static double getMean(const std::vector< double > &v)
Definition: vpMath.cpp:242
Real-time 6D object pose tracking using its CAD model.
Main methods for a model-based tracker.
Definition: vpMbTracker.h:105
virtual void resetTracker()=0
virtual void setOgreShowConfigDialog(bool showConfigDialog)
Definition: vpMbTracker.h:647
virtual void setDisplayFeatures(bool displayF)
Definition: vpMbTracker.h:518
virtual vpColVector getError() const =0
virtual void setAngleDisappear(const double &a)
Definition: vpMbTracker.h:481
virtual void setCovarianceComputation(const bool &flag)
Definition: vpMbTracker.h:500
virtual void setScanLineVisibilityTest(const bool &v)
Definition: vpMbTracker.h:605
virtual void setOgreVisibilityTest(const bool &v)
virtual vpMatrix getCovarianceMatrix() const
Definition: vpMbTracker.h:265
virtual void setNearClippingDistance(const double &dist)
virtual void setFarClippingDistance(const double &dist)
virtual double getProjectionError() const
Definition: vpMbTracker.h:310
virtual void setProjectionErrorComputation(const bool &flag)
Definition: vpMbTracker.h:585
virtual void setClipping(const unsigned int &flags)
virtual void setAngleAppear(const double &a)
Definition: vpMbTracker.h:470
virtual unsigned int getClipping() const
Definition: vpMbTracker.h:256
Definition: vpMe.h:61
void setMu1(const double &mu_1)
Definition: vpMe.h:241
void setSampleStep(const double &s)
Definition: vpMe.h:278
void setRange(const unsigned int &r)
Definition: vpMe.h:271
void setMaskSize(const unsigned int &a)
Definition: vpMe.cpp:459
void setMu2(const double &mu_2)
Definition: vpMe.h:248
void setMaskNumber(const unsigned int &a)
Definition: vpMe.cpp:452
void setThreshold(const double &t)
Definition: vpMe.h:300
static bool parse(int *argcPtr, const char **argv, vpArgvInfo *argTable, int flags)
Definition: vpParseArgv.cpp:69
VISP_EXPORT double measureTimeMs()